From 2c67f792896eb08ae96546112b8f587e81a103cb Mon Sep 17 00:00:00 2001
From: LQS <253192890@qq.com>
Date: Fri, 29 Mar 2024 10:34:53 +0800
Subject: [PATCH 1/2] update

---
 ...�系统”软件需求规格说明书.docx | Bin 0 -> 1428091 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 create mode 100644 doc/“基于空地协同的伤情态势感知分析系统”软件需求规格说明书.docx

diff --git a/doc/“基于空地协同的伤情态势感知分析系统”软件需求规格说明书.docx b/doc/“基于空地协同的伤情态势感知分析系统”软件需求规格说明书.docx
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-- 
2.34.1


From 6bb2935599323e129f2f26bbfc23e3c3da7dce3a Mon Sep 17 00:00:00 2001
From: LQS <253192890@qq.com>
Date: Fri, 10 May 2024 08:21:14 +0800
Subject: [PATCH 2/2] upload for robot

---
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 .../extra_setuptools/test_setuphelper.py      |  101 +
 .../pybind11/tests/local_bindings.h           |   64 +
 .../third-party/pybind11/tests/object.h       |  175 ++
 .../tests/pybind11_cross_module_tests.cpp     |  123 +
 .../pybind11/tests/pybind11_tests.cpp         |   91 +
 .../pybind11/tests/pybind11_tests.h           |   71 +
 .../third-party/pybind11/tests/pytest.ini     |   19 +
 .../pybind11/tests/requirements.txt           |    8 +
 .../third-party/pybind11/tests/test_async.cpp |   26 +
 .../third-party/pybind11/tests/test_async.py  |   25 +
 .../pybind11/tests/test_buffers.cpp           |  214 ++
 .../pybind11/tests/test_buffers.py            |  162 ++
 .../pybind11/tests/test_builtin_casters.cpp   |  192 ++
 .../pybind11/tests/test_builtin_casters.py    |  392 +++
 .../pybind11/tests/test_call_policies.cpp     |  101 +
 .../pybind11/tests/test_call_policies.py      |  192 ++
 .../pybind11/tests/test_callbacks.cpp         |  168 ++
 .../pybind11/tests/test_callbacks.py          |  137 +
 .../pybind11/tests/test_chrono.cpp            |   84 +
 .../third-party/pybind11/tests/test_chrono.py |  212 ++
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 .../tests/test_cmake_build/CMakeLists.txt     |   79 +
 .../pybind11/tests/test_cmake_build/embed.cpp |   21 +
 .../installed_embed/CMakeLists.txt            |   26 +
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 .../pybind11/tests/test_cmake_build/main.cpp  |    6 +
 .../subdirectory_embed/CMakeLists.txt         |   39 +
 .../subdirectory_function/CMakeLists.txt      |   34 +
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 .../pybind11/tests/test_cmake_build/test.py   |    6 +
 .../tests/test_constants_and_functions.cpp    |  127 +
 .../tests/test_constants_and_functions.py     |   42 +
 .../pybind11/tests/test_copy_move.cpp         |  219 ++
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 .../tests/test_custom_type_casters.cpp        |  127 +
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 .../pybind11/tests/test_docstring_options.cpp |   61 +
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 .../pybind11/tests/test_embed/CMakeLists.txt  |   43 +
 .../pybind11/tests/test_embed/catch.cpp       |   22 +
 .../tests/test_embed/external_module.cpp      |   23 +
 .../tests/test_embed/test_interpreter.cpp     |  284 ++
 .../tests/test_embed/test_interpreter.py      |   10 +
 .../third-party/pybind11/tests/test_enum.cpp  |   87 +
 .../third-party/pybind11/tests/test_enum.py   |  212 ++
 .../third-party/pybind11/tests/test_eval.cpp  |   91 +
 .../third-party/pybind11/tests/test_eval.py   |   27 +
 .../pybind11/tests/test_eval_call.py          |    5 +
 .../pybind11/tests/test_exceptions.cpp        |  224 ++
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 .../tests/test_factory_constructors.cpp       |  343 +++
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 .../pybind11/tests/test_gil_scoped.cpp        |   54 +
 .../pybind11/tests/test_gil_scoped.py         |   91 +
 .../pybind11/tests/test_iostream.cpp          |   73 +
 .../pybind11/tests/test_iostream.py           |  215 ++
 .../tests/test_kwargs_and_defaults.cpp        |  142 +
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 .../pybind11/tests/test_local_bindings.cpp    |  101 +
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 .../tests/test_methods_and_attributes.cpp     |  378 +++
 .../tests/test_methods_and_attributes.py      |  462 ++++
 .../pybind11/tests/test_modules.cpp           |  101 +
 .../pybind11/tests/test_modules.py            |   73 +
 .../tests/test_multiple_inheritance.cpp       |  218 ++
 .../tests/test_multiple_inheritance.py        |  356 +++
 .../pybind11/tests/test_numpy_array.cpp       |  438 +++
 .../pybind11/tests/test_numpy_array.py        |  495 ++++
 .../pybind11/tests/test_numpy_dtypes.cpp      |  499 ++++
 .../pybind11/tests/test_numpy_dtypes.py       |  366 +++
 .../pybind11/tests/test_numpy_vectorize.cpp   |   93 +
 .../pybind11/tests/test_numpy_vectorize.py    |  205 ++
 .../pybind11/tests/test_opaque_types.cpp      |   73 +
 .../pybind11/tests/test_opaque_types.py       |   55 +
 .../tests/test_operator_overloading.cpp       |  226 ++
 .../tests/test_operator_overloading.py        |  145 +
 .../pybind11/tests/test_pickling.cpp          |  130 +
 .../pybind11/tests/test_pickling.py           |   46 +
 .../pybind11/tests/test_pytypes.cpp           |  410 +++
 .../pybind11/tests/test_pytypes.py            |  426 +++
 .../tests/test_sequences_and_iterators.cpp    |  358 +++
 .../tests/test_sequences_and_iterators.py     |  191 ++
 .../pybind11/tests/test_smart_ptr.cpp         |  370 +++
 .../pybind11/tests/test_smart_ptr.py          |  291 ++
 .../third-party/pybind11/tests/test_stl.cpp   |  324 +++
 .../third-party/pybind11/tests/test_stl.py    |  252 ++
 .../pybind11/tests/test_stl_binders.cpp       |  129 +
 .../pybind11/tests/test_stl_binders.py        |  285 ++
 .../tests/test_tagbased_polymorphic.cpp       |  142 +
 .../tests/test_tagbased_polymorphic.py        |   21 +
 .../third-party/pybind11/tests/test_union.cpp |   22 +
 .../third-party/pybind11/tests/test_union.py  |    9 +
 .../pybind11/tests/test_virtual_functions.cpp |  498 ++++
 .../pybind11/tests/test_virtual_functions.py  |  380 +++
 .../pybind11/tools/FindCatch.cmake            |   70 +
 .../pybind11/tools/FindEigen3.cmake           |   83 +
 .../pybind11/tools/FindPythonLibsNew.cmake    |  255 ++
 .../third-party/pybind11/tools/check-style.sh |   44 +
 .../pybind11/tools/cmake_uninstall.cmake.in   |   23 +
 .../third-party/pybind11/tools/libsize.py     |   38 +
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 .../pybind11/tools/setup_global.py.in         |   63 +
 .../pybind11/tools/setup_main.py.in           |   35 +
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 create mode 100644 src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.cpp
 create mode 100644 src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.py
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 create mode 100644 src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.py
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 create mode 100644 src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.cpp
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diff --git a/src/Robot/UnitreecameraSDK/.trans_rect_config.yaml.swp b/src/Robot/UnitreecameraSDK/.trans_rect_config.yaml.swp
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diff --git a/src/Robot/UnitreecameraSDK/CMakeLists.txt b/src/Robot/UnitreecameraSDK/CMakeLists.txt
new file mode 100644
index 0000000..029d1ce
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required( VERSION 2.8 )
+project( UnitreeCameraSDK )
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bins/)
+set(OpenCV_DIR  /home/lqs/opencv-4.6.0/build)
+find_package(OpenCV 4 REQUIRED)
+if(OpenCV_FOUND)
+    include_directories(${OpenCV_INCLUDE_DIR})
+    message(STATUS "OpenCV ${OpenCV_VERSION} FOUND")
+    message(STATUS ${OpenCV_LIBS})
+    if(${OpenCV_VERSION_MAJOR} EQUAL 4)
+        add_definitions(-DOPENCV_VERSION_4)
+    elseif(${OpenCV_VERSION_MAJOR} LESS 4)
+        add_definitions(-DOPENCV_VERSION_3)
+    endif()
+else()
+    message(FATAL_ERROR "OpenCV Library Not Found")
+endif()
+
+if(CMAKE_HOST_SYSTEM_PROCESSOR MATCHES "x86_64")
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/amd64/)
+link_directories(${PROJECT_SOURCE_DIR}/lib/amd64/)
+else()
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib/arm64/)
+link_directories(${PROJECT_SOURCE_DIR}/lib/arm64/)
+endif()
+
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
+include_directories(${PROJECT_SOURCE_DIR}/include)
+
+set(SDKLIBS unitree_camera tstc_V4L2_xu_camera udev systemlog ${OpenCV_LIBS})
+
+add_subdirectory(${PROJECT_SOURCE_DIR}/examples)
+
diff --git a/src/Robot/UnitreecameraSDK/LICENSE b/src/Robot/UnitreecameraSDK/LICENSE
new file mode 100644
index 0000000..a612ad9
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/LICENSE
@@ -0,0 +1,373 @@
+Mozilla Public License Version 2.0
+==================================
+
+1. Definitions
+--------------
+
+1.1. "Contributor"
+    means each individual or legal entity that creates, contributes to
+    the creation of, or owns Covered Software.
+
+1.2. "Contributor Version"
+    means the combination of the Contributions of others (if any) used
+    by a Contributor and that particular Contributor's Contribution.
+
+1.3. "Contribution"
+    means Covered Software of a particular Contributor.
+
+1.4. "Covered Software"
+    means Source Code Form to which the initial Contributor has attached
+    the notice in Exhibit A, the Executable Form of such Source Code
+    Form, and Modifications of such Source Code Form, in each case
+    including portions thereof.
+
+1.5. "Incompatible With Secondary Licenses"
+    means
+
+    (a) that the initial Contributor has attached the notice described
+        in Exhibit B to the Covered Software; or
+
+    (b) that the Covered Software was made available under the terms of
+        version 1.1 or earlier of the License, but not also under the
+        terms of a Secondary License.
+
+1.6. "Executable Form"
+    means any form of the work other than Source Code Form.
+
+1.7. "Larger Work"
+    means a work that combines Covered Software with other material, in
+    a separate file or files, that is not Covered Software.
+
+1.8. "License"
+    means this document.
+
+1.9. "Licensable"
+    means having the right to grant, to the maximum extent possible,
+    whether at the time of the initial grant or subsequently, any and
+    all of the rights conveyed by this License.
+
+1.10. "Modifications"
+    means any of the following:
+
+    (a) any file in Source Code Form that results from an addition to,
+        deletion from, or modification of the contents of Covered
+        Software; or
+
+    (b) any new file in Source Code Form that contains any Covered
+        Software.
+
+1.11. "Patent Claims" of a Contributor
+    means any patent claim(s), including without limitation, method,
+    process, and apparatus claims, in any patent Licensable by such
+    Contributor that would be infringed, but for the grant of the
+    License, by the making, using, selling, offering for sale, having
+    made, import, or transfer of either its Contributions or its
+    Contributor Version.
+
+1.12. "Secondary License"
+    means either the GNU General Public License, Version 2.0, the GNU
+    Lesser General Public License, Version 2.1, the GNU Affero General
+    Public License, Version 3.0, or any later versions of those
+    licenses.
+
+1.13. "Source Code Form"
+    means the form of the work preferred for making modifications.
+
+1.14. "You" (or "Your")
+    means an individual or a legal entity exercising rights under this
+    License. For legal entities, "You" includes any entity that
+    controls, is controlled by, or is under common control with You. For
+    purposes of this definition, "control" means (a) the power, direct
+    or indirect, to cause the direction or management of such entity,
+    whether by contract or otherwise, or (b) ownership of more than
+    fifty percent (50%) of the outstanding shares or beneficial
+    ownership of such entity.
+
+2. License Grants and Conditions
+--------------------------------
+
+2.1. Grants
+
+Each Contributor hereby grants You a world-wide, royalty-free,
+non-exclusive license:
+
+(a) under intellectual property rights (other than patent or trademark)
+    Licensable by such Contributor to use, reproduce, make available,
+    modify, display, perform, distribute, and otherwise exploit its
+    Contributions, either on an unmodified basis, with Modifications, or
+    as part of a Larger Work; and
+
+(b) under Patent Claims of such Contributor to make, use, sell, offer
+    for sale, have made, import, and otherwise transfer either its
+    Contributions or its Contributor Version.
+
+2.2. Effective Date
+
+The licenses granted in Section 2.1 with respect to any Contribution
+become effective for each Contribution on the date the Contributor first
+distributes such Contribution.
+
+2.3. Limitations on Grant Scope
+
+The licenses granted in this Section 2 are the only rights granted under
+this License. No additional rights or licenses will be implied from the
+distribution or licensing of Covered Software under this License.
+Notwithstanding Section 2.1(b) above, no patent license is granted by a
+Contributor:
+
+(a) for any code that a Contributor has removed from Covered Software;
+    or
+
+(b) for infringements caused by: (i) Your and any other third party's
+    modifications of Covered Software, or (ii) the combination of its
+    Contributions with other software (except as part of its Contributor
+    Version); or
+
+(c) under Patent Claims infringed by Covered Software in the absence of
+    its Contributions.
+
+This License does not grant any rights in the trademarks, service marks,
+or logos of any Contributor (except as may be necessary to comply with
+the notice requirements in Section 3.4).
+
+2.4. Subsequent Licenses
+
+No Contributor makes additional grants as a result of Your choice to
+distribute the Covered Software under a subsequent version of this
+License (see Section 10.2) or under the terms of a Secondary License (if
+permitted under the terms of Section 3.3).
+
+2.5. Representation
+
+Each Contributor represents that the Contributor believes its
+Contributions are its original creation(s) or it has sufficient rights
+to grant the rights to its Contributions conveyed by this License.
+
+2.6. Fair Use
+
+This License is not intended to limit any rights You have under
+applicable copyright doctrines of fair use, fair dealing, or other
+equivalents.
+
+2.7. Conditions
+
+Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
+in Section 2.1.
+
+3. Responsibilities
+-------------------
+
+3.1. Distribution of Source Form
+
+All distribution of Covered Software in Source Code Form, including any
+Modifications that You create or to which You contribute, must be under
+the terms of this License. You must inform recipients that the Source
+Code Form of the Covered Software is governed by the terms of this
+License, and how they can obtain a copy of this License. You may not
+attempt to alter or restrict the recipients' rights in the Source Code
+Form.
+
+3.2. Distribution of Executable Form
+
+If You distribute Covered Software in Executable Form then:
+
+(a) such Covered Software must also be made available in Source Code
+    Form, as described in Section 3.1, and You must inform recipients of
+    the Executable Form how they can obtain a copy of such Source Code
+    Form by reasonable means in a timely manner, at a charge no more
+    than the cost of distribution to the recipient; and
+
+(b) You may distribute such Executable Form under the terms of this
+    License, or sublicense it under different terms, provided that the
+    license for the Executable Form does not attempt to limit or alter
+    the recipients' rights in the Source Code Form under this License.
+
+3.3. Distribution of a Larger Work
+
+You may create and distribute a Larger Work under terms of Your choice,
+provided that You also comply with the requirements of this License for
+the Covered Software. If the Larger Work is a combination of Covered
+Software with a work governed by one or more Secondary Licenses, and the
+Covered Software is not Incompatible With Secondary Licenses, this
+License permits You to additionally distribute such Covered Software
+under the terms of such Secondary License(s), so that the recipient of
+the Larger Work may, at their option, further distribute the Covered
+Software under the terms of either this License or such Secondary
+License(s).
+
+3.4. Notices
+
+You may not remove or alter the substance of any license notices
+(including copyright notices, patent notices, disclaimers of warranty,
+or limitations of liability) contained within the Source Code Form of
+the Covered Software, except that You may alter any license notices to
+the extent required to remedy known factual inaccuracies.
+
+3.5. Application of Additional Terms
+
+You may choose to offer, and to charge a fee for, warranty, support,
+indemnity or liability obligations to one or more recipients of Covered
+Software. However, You may do so only on Your own behalf, and not on
+behalf of any Contributor. You must make it absolutely clear that any
+such warranty, support, indemnity, or liability obligation is offered by
+You alone, and You hereby agree to indemnify every Contributor for any
+liability incurred by such Contributor as a result of warranty, support,
+indemnity or liability terms You offer. You may include additional
+disclaimers of warranty and limitations of liability specific to any
+jurisdiction.
+
+4. Inability to Comply Due to Statute or Regulation
+---------------------------------------------------
+
+If it is impossible for You to comply with any of the terms of this
+License with respect to some or all of the Covered Software due to
+statute, judicial order, or regulation then You must: (a) comply with
+the terms of this License to the maximum extent possible; and (b)
+describe the limitations and the code they affect. Such description must
+be placed in a text file included with all distributions of the Covered
+Software under this License. Except to the extent prohibited by statute
+or regulation, such description must be sufficiently detailed for a
+recipient of ordinary skill to be able to understand it.
+
+5. Termination
+--------------
+
+5.1. The rights granted under this License will terminate automatically
+if You fail to comply with any of its terms. However, if You become
+compliant, then the rights granted under this License from a particular
+Contributor are reinstated (a) provisionally, unless and until such
+Contributor explicitly and finally terminates Your grants, and (b) on an
+ongoing basis, if such Contributor fails to notify You of the
+non-compliance by some reasonable means prior to 60 days after You have
+come back into compliance. Moreover, Your grants from a particular
+Contributor are reinstated on an ongoing basis if such Contributor
+notifies You of the non-compliance by some reasonable means, this is the
+first time You have received notice of non-compliance with this License
+from such Contributor, and You become compliant prior to 30 days after
+Your receipt of the notice.
+
+5.2. If You initiate litigation against any entity by asserting a patent
+infringement claim (excluding declaratory judgment actions,
+counter-claims, and cross-claims) alleging that a Contributor Version
+directly or indirectly infringes any patent, then the rights granted to
+You by any and all Contributors for the Covered Software under Section
+2.1 of this License shall terminate.
+
+5.3. In the event of termination under Sections 5.1 or 5.2 above, all
+end user license agreements (excluding distributors and resellers) which
+have been validly granted by You or Your distributors under this License
+prior to termination shall survive termination.
+
+************************************************************************
+*                                                                      *
+*  6. Disclaimer of Warranty                                           *
+*  -------------------------                                           *
+*                                                                      *
+*  Covered Software is provided under this License on an "as is"       *
+*  basis, without warranty of any kind, either expressed, implied, or  *
+*  statutory, including, without limitation, warranties that the       *
+*  Covered Software is free of defects, merchantable, fit for a        *
+*  particular purpose or non-infringing. The entire risk as to the     *
+*  quality and performance of the Covered Software is with You.        *
+*  Should any Covered Software prove defective in any respect, You     *
+*  (not any Contributor) assume the cost of any necessary servicing,   *
+*  repair, or correction. This disclaimer of warranty constitutes an   *
+*  essential part of this License. No use of any Covered Software is   *
+*  authorized under this License except under this disclaimer.         *
+*                                                                      *
+************************************************************************
+
+************************************************************************
+*                                                                      *
+*  7. Limitation of Liability                                          *
+*  --------------------------                                          *
+*                                                                      *
+*  Under no circumstances and under no legal theory, whether tort      *
+*  (including negligence), contract, or otherwise, shall any           *
+*  Contributor, or anyone who distributes Covered Software as          *
+*  permitted above, be liable to You for any direct, indirect,         *
+*  special, incidental, or consequential damages of any character      *
+*  including, without limitation, damages for lost profits, loss of    *
+*  goodwill, work stoppage, computer failure or malfunction, or any    *
+*  and all other commercial damages or losses, even if such party      *
+*  shall have been informed of the possibility of such damages. This   *
+*  limitation of liability shall not apply to liability for death or   *
+*  personal injury resulting from such party's negligence to the       *
+*  extent applicable law prohibits such limitation. Some               *
+*  jurisdictions do not allow the exclusion or limitation of           *
+*  incidental or consequential damages, so this exclusion and          *
+*  limitation may not apply to You.                                    *
+*                                                                      *
+************************************************************************
+
+8. Litigation
+-------------
+
+Any litigation relating to this License may be brought only in the
+courts of a jurisdiction where the defendant maintains its principal
+place of business and such litigation shall be governed by laws of that
+jurisdiction, without reference to its conflict-of-law provisions.
+Nothing in this Section shall prevent a party's ability to bring
+cross-claims or counter-claims.
+
+9. Miscellaneous
+----------------
+
+This License represents the complete agreement concerning the subject
+matter hereof. If any provision of this License is held to be
+unenforceable, such provision shall be reformed only to the extent
+necessary to make it enforceable. Any law or regulation which provides
+that the language of a contract shall be construed against the drafter
+shall not be used to construe this License against a Contributor.
+
+10. Versions of the License
+---------------------------
+
+10.1. New Versions
+
+Mozilla Foundation is the license steward. Except as provided in Section
+10.3, no one other than the license steward has the right to modify or
+publish new versions of this License. Each version will be given a
+distinguishing version number.
+
+10.2. Effect of New Versions
+
+You may distribute the Covered Software under the terms of the version
+of the License under which You originally received the Covered Software,
+or under the terms of any subsequent version published by the license
+steward.
+
+10.3. Modified Versions
+
+If you create software not governed by this License, and you want to
+create a new license for such software, you may create and use a
+modified version of this License if you rename the license and remove
+any references to the name of the license steward (except to note that
+such modified license differs from this License).
+
+10.4. Distributing Source Code Form that is Incompatible With Secondary
+Licenses
+
+If You choose to distribute Source Code Form that is Incompatible With
+Secondary Licenses under the terms of this version of the License, the
+notice described in Exhibit B of this License must be attached.
+
+Exhibit A - Source Code Form License Notice
+-------------------------------------------
+
+  This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+If it is not possible or desirable to put the notice in a particular
+file, then You may include the notice in a location (such as a LICENSE
+file in a relevant directory) where a recipient would be likely to look
+for such a notice.
+
+You may add additional accurate notices of copyright ownership.
+
+Exhibit B - "Incompatible With Secondary Licenses" Notice
+---------------------------------------------------------
+
+  This Source Code Form is "Incompatible With Secondary Licenses", as
+  defined by the Mozilla Public License, v. 2.0.
diff --git a/src/Robot/UnitreecameraSDK/README.md b/src/Robot/UnitreecameraSDK/README.md
new file mode 100644
index 0000000..2c2efab
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/README.md
@@ -0,0 +1,84 @@
+Introduction
+---
+Unitree Robotics is a energetic start-up company that focuses on the development, production and sales of high-performance quadruped robots. It has been interviewed by BBC and CCTV, and is one of the earliest company to publicly sell quadruped robots.
+
+The company has an outstanding leadership in developing robot core components, motion control, robot perception, etc.
+
+We attaches great importance to research and development, and thus independently developed the motors, reducers, controllers, and even some sensors of the quadruped robot.
+
+1.Overview
+---
+UnitreeCameraSDK 1.1.0 is a cross-platform library for unitree stereo cameras
+
+The SDK allows depth and color streaming, and provides intrinsic calibration information. The library also offers pointcloud, depth image aligned to color image.
+
+2.Dependencies
+---
+
+OpenCV, version: equal or lager than 4 (need gstreamer)
+
+CMake, version: 2.8 or higher
+
+[OpenGL] for point cloud gui
+
+[GLUT] for point cloud gui
+
+[X11], for point cloud gui 
+
+2.Build
+---
+
+```
+cd UnitreeCameraSDK;
+mkdir build && cd build;
+cmake ..; make
+```
+
+3.Run Examples
+---
+
+Get Camera Raw Frame:
+```
+cd UnitreeCameraSDK; 
+./bin/example_getRawFrame 
+```
+
+Get Calibration Parameters File
+```
+cd UnitreeCameraSDK;
+./bin/example_getCalibParamsFile 
+```
+
+Get Rectify Frame
+```
+cd UnitreeCameraSDK;
+./bin/example_getRectFrame
+```
+
+Get Depth Frame
+```
+cd UnitreeCameraSDK;
+./bin/example_getDepthFrame
+```
+
+Get Point Cloud:
+```
+cd UnitreeCameraSDK; 
+./bin/example_getPointCloud
+```
+
+4.send image and listen image
+sender:put image to another devices
+```
+cd UnitreeCameraSDK; 
+./bin/example_putImagetrans
+```
+
+listener:get image from another devices
+```
+cd UnitreeCameraSDK; 
+./bin/example_getimagetrans
+```
+
+
+
diff --git a/src/Robot/UnitreecameraSDK/bins/example_getCalibParamsFile b/src/Robot/UnitreecameraSDK/bins/example_getCalibParamsFile
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diff --git a/src/Robot/UnitreecameraSDK/bins/example_getDepthFrame b/src/Robot/UnitreecameraSDK/bins/example_getDepthFrame
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diff --git a/src/Robot/UnitreecameraSDK/bins/example_getPointCloud b/src/Robot/UnitreecameraSDK/bins/example_getPointCloud
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diff --git a/src/Robot/UnitreecameraSDK/bins/example_getRawFrame b/src/Robot/UnitreecameraSDK/bins/example_getRawFrame
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diff --git a/src/Robot/UnitreecameraSDK/bins/example_getRectFrame b/src/Robot/UnitreecameraSDK/bins/example_getRectFrame
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diff --git a/src/Robot/UnitreecameraSDK/bins/example_getimagetrans b/src/Robot/UnitreecameraSDK/bins/example_getimagetrans
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diff --git a/src/Robot/UnitreecameraSDK/bins/example_putImagetrans b/src/Robot/UnitreecameraSDK/bins/example_putImagetrans
new file mode 100644
index 0000000000000000000000000000000000000000..22888bc9baa52f1e84e97135a8768e27d8735afa
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diff --git a/src/Robot/UnitreecameraSDK/build/CMakeCache.txt b/src/Robot/UnitreecameraSDK/build/CMakeCache.txt
new file mode 100644
index 0000000..30f737a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/build/CMakeCache.txt
@@ -0,0 +1,725 @@
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+# For build in directory: /home/lqs/UnitreecameraSDK/build
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
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+# KEY is the name of a variable in the cache.
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+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__ARMCC_VERSION)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if defined(_MSC_VER) && !defined(__clang__)
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/src/Robot/UnitreecameraSDK/build/CMakeFiles/3.10.2/CompilerIdC/a.out b/src/Robot/UnitreecameraSDK/build/CMakeFiles/3.10.2/CompilerIdC/a.out
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diff --git a/src/Robot/UnitreecameraSDK/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp b/src/Robot/UnitreecameraSDK/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
new file mode 100644
index 0000000..2d66298
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/build/CMakeFiles/3.10.2/CompilerIdCXX/CMakeCXXCompilerId.cpp
@@ -0,0 +1,576 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
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+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
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+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
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+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
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+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
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+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
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+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__ARMCC_VERSION)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(_SGI_COMPILER_VERSION) || defined(_COMPILER_VERSION)
+# define COMPILER_ID "MIPSpro"
+# if defined(_SGI_COMPILER_VERSION)
+  /* _SGI_COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_SGI_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_SGI_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_SGI_COMPILER_VERSION    % 10)
+# else
+  /* _COMPILER_VERSION = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(_COMPILER_VERSION/100)
+#  define COMPILER_VERSION_MINOR DEC(_COMPILER_VERSION/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(_COMPILER_VERSION    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__sgi)
+# define COMPILER_ID "MIPSpro"
+
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__sgi) || defined(__sgi__) || defined(_SGI)
+# define PLATFORM_ID "IRIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
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+#endif
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file is part of UnitreeCameraSDK, which implement stereo vision algorithm. </p>
+<p>image capture, image rectification, disparity computation, point cloud generation </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang  create date 2021.07.31 </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c)2019-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
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+<p>This enum is used for stereo images rectification. </p>
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+<title>UnitreeCameraSDK: include/StereoCameraCommon.hpp File Reference</title>
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+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#typedef-members">Typedefs</a>  </div>
+  <div class="headertitle">
+<div class="title">StereoCameraCommon.hpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;string&gt;</code><br />
+<code>#include &lt;thread&gt;</code><br />
+<code>#include &lt;mutex&gt;</code><br />
+<code>#include &lt;condition_variable&gt;</code><br />
+<code>#include &lt;opencv2/opencv.hpp&gt;</code><br />
+<code>#include &lt;chrono&gt;</code><br />
+<code>#include &quot;<a class="el" href="_system_log_8hpp_source.html">SystemLog.hpp</a>&quot;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for StereoCameraCommon.hpp:</div>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<p>image capture, image rectification, disparity computation, depth image and point cloud generation </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
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+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
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+<a href="_stereo_camera_common_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="preprocessor">#ifndef __STEREO_CAMERA_COMMOM_HPP__</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define __STEREO_CAMERA_COMMOM_HPP__</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;thread&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;condition_variable&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;opencv2/opencv.hpp&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_system_log_8hpp.html">SystemLog.hpp</a>&quot;</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="struct_p_c_l.html">   28</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct_p_c_l.html">PCL</a> {</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="struct_p_c_l.html#a07c28b7f533724d91ec4a9e461989d8c">   29</a></span>&#160;  cv::Vec3f <a class="code" href="struct_p_c_l.html#a07c28b7f533724d91ec4a9e461989d8c">pts</a>;  </div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="struct_p_c_l.html#a6555550c790378b130273dd6ae3a2158">   30</a></span>&#160;  cv::Vec3b <a class="code" href="struct_p_c_l.html#a6555550c790378b130273dd6ae3a2158">clr</a>;  </div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;}<a class="code" href="struct_p_c_l.html">PCLType</a>;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="class_stereo_camera.html">   38</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_stereo_camera.html">StereoCamera</a></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;{</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">struct </span>TimeFrame{</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        cv::Mat data1;                        </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        cv::Mat data2;                        </div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        std::chrono::microseconds timeStamp;  </div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    }TimeFrameType;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    </div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keywordtype">int</span> m_radius = 0;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordtype">int</span> m_algorithm = 0;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordtype">int</span> m_logLevel = 1;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordtype">int</span> m_deviceNode = 0;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordtype">int</span> m_posNumber = 0;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordtype">int</span> m_serialNumber = 0;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordtype">int</span> m_threshold = 120;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keywordtype">float</span> m_frameRate = 30.0;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keywordtype">int</span> m_ipLastSegment = 15;</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    </div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keywordtype">bool</span> m_shareMemSupport = <span class="keyword">false</span>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">bool</span> m_udpH264Support = <span class="keyword">false</span>;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">bool</span> m_isOpened = <span class="keyword">false</span>;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">bool</span> m_isCompute = <span class="keyword">false</span>;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    </div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    cv::Size m_frameSize;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    cv::Size m_rectSize;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    </div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    TimeFrameType m_stampFrame, m_dispFrame;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    </div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    cv::Mat m_leftXi,m_leftRotation,m_leftIntrinsic,m_leftDistortion;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    cv::Mat m_rightXi,m_rightRotation,m_rightIntrinsic,m_rightDistortion;</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    cv::Mat m_translation;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;       </div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    cv::Mat m_kfe, m_fmap[2], m_lmap[2][2], m_lagerFmap[2];</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    </div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <a class="code" href="class_system_log.html">SystemLog</a> *m_log = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    std::string m_logName = <span class="stringliteral">&quot;StereoCamera&quot;</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    </div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    std::mutex m_capLock, m_dispLock;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    std::condition_variable m_capTrigger, m_dispTrigger;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    </div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    cv::VideoCapture *m_videoCap = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    </div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    std::thread *m_capWorker = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    std::thread *m_dispWorker = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    </div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <a class="code" href="class_stereo_camera.html">StereoCamera</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="code" href="class_stereo_camera.html">StereoCamera</a>(std::string fileName);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <a class="code" href="class_stereo_camera.html">StereoCamera</a>(<span class="keywordtype">int</span> deviceNode);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="class_stereo_camera.html">StereoCamera</a>();</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    </div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isOpened(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setLogLevel(<span class="keywordtype">int</span> level);</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setPosNumber(<span class="keywordtype">int</span> posNumber);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setSerialNumber(<span class="keywordtype">int</span> serialNumber);</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setRawFrameRate(<span class="keywordtype">int</span> frameRate);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setRawFrameSize(cv::Size frameSize);</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setRectFrameSize(cv::Size frameSize);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> setCalibParams(std::vector&lt;cv::Mat&gt; paramsArray, <span class="keywordtype">bool</span> flag = <span class="keyword">false</span>);</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLogLevel(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">int</span> getDeviceNode(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">int</span> getPosNumber(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">int</span> getSerialNumber(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">float</span> getRawFrameRate(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="keyword">virtual</span> cv::Size getRawFrameSize(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getRawFrame(cv::Mat &amp;frame, std::chrono::microseconds &amp;timeStamp);</div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getStereoFrame(cv::Mat &amp;left, cv::Mat &amp;right, std::chrono::microseconds &amp;timeStamp);</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getDepthFrame(cv::Mat&amp; depth, <span class="keywordtype">bool</span> color, std::chrono::microseconds &amp;timeStamp);</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; 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+<div class="ttc" id="class_system_log_html"><div class="ttname"><a href="class_system_log.html">SystemLog</a></div><div class="ttdef"><b>Definition:</b> SystemLog.hpp:18</div></div>
+<div class="ttc" id="struct_p_c_l_html"><div class="ttname"><a href="struct_p_c_l.html">PCL</a></div><div class="ttdoc">this struct is used for RGB point cloud capture and display </div><div class="ttdef"><b>Definition:</b> StereoCameraCommon.hpp:28</div></div>
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+   <div id="projectbrief">unitree stereo camra apis</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li>  </ul>
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+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a>  </div>
+  <div class="headertitle">
+<div class="title">SystemLog.hpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This file is part of UnitreeCameraSDK, which declare the APIs of log system.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;stdarg.h&gt;</code><br />
+<code>#include &lt;stdio.h&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for SystemLog.hpp:</div>
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+<div class="dyncontent">
+<div class="center"><img src="_system_log_8hpp__dep__incl.png" border="0" usemap="#include_2_system_log_8hppdep" alt=""/></div>
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+<p><a href="_system_log_8hpp_source.html">Go to the source code of this file.</a></p>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html">SystemLog</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file is part of UnitreeCameraSDK, which declare the APIs of log system. </p>
+<p>The log system is used for unified management of the output information of the special system. </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c)2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
+</div></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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new file mode 100644
index 0000000..9593bd3
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/_system_log_8hpp__incl.map
@@ -0,0 +1,2 @@
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/_system_log_8hpp__incl.md5 b/src/Robot/UnitreecameraSDK/doc/html/_system_log_8hpp__incl.md5
new file mode 100644
index 0000000..649cd5a
--- /dev/null
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+<div class="title">SystemLog.hpp</div>  </div>
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+<div class="contents">
+<a href="_system_log_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#ifndef __SYSTEMLOG_HPP__</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#define __SYSTEMLOG_HPP__</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;stdarg.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;stdio.h&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="class_system_log.html">   18</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_system_log.html">SystemLog</a></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;{</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    <span class="keywordtype">int</span> m_logLevel;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    <span class="keywordtype">bool</span> m_isSave;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    std::string m_logName;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    std::string m_logFileName;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    </div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <a class="code" href="class_system_log.html#aad41c68c3a8192ddb646170349023c99">SystemLog</a>(std::string logName);</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    </div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">public</span>:    </div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; 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   <span class="keywordtype">void</span> <a class="code" href="class_system_log.html#a08dff4b478ed29a39d584d3b7f21ddfb">debugTimeWarning</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *format,...);</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_system_log.html#ad79238fdcc9a301093d6fa32884d1ae1">debugTimeInfo</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *format,...);</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_system_log.html#ae1cbe2de51efe22068e2e047396a72dd">debugTimeError</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *format,...);</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_system_log.html#a9714a265975472433882962b7449bd45">saveLog</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_system_log.html#af41d346f86242f5be187fe2be354347d">saveLogToFile</a>(std::string fileName) ;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;};</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="preprocessor">#endif //__SYSTEMLOG_HPP__</span></div><div class="ttc" id="class_system_log_html_a9714a265975472433882962b7449bd45"><div class="ttname"><a href="class_system_log.html#a9714a265975472433882962b7449bd45">SystemLog::saveLog</a></div><div class="ttdeci">void saveLog(void)</div><div class="ttdoc">save system log to a file, default file name: Running.txt </div></div>
+<div class="ttc" id="class_system_log_html_a21296bb67489848bad6cfa04280fec85"><div class="ttname"><a href="class_system_log.html#a21296bb67489848bad6cfa04280fec85">SystemLog::setLogLevel</a></div><div class="ttdeci">void setLogLevel(int level)</div><div class="ttdoc">set system ouput log level </div></div>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/_unitree_camera_s_d_k_8hpp.html b/src/Robot/UnitreecameraSDK/doc/html/_unitree_camera_s_d_k_8hpp.html
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+   &#160;<span id="projectnumber">1.0.1</span>
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+   <div id="projectbrief">unitree stereo camra apis</div>
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+<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li>  </ul>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">UnitreeCameraSDK.hpp File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This file is part of UnitreeCameraSDK, which declare unitree camera APIs.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &quot;<a class="el" href="_stereo_camera_common_8hpp_source.html">StereoCameraCommon.hpp</a>&quot;</code><br />
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+<p><a href="_unitree_camera_s_d_k_8hpp_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td></tr>
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+cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><b>getRotationMatrix</b> (int axis='x', float theta=0.0)</td></tr>
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+<tr class="memitem:a3b00277586cab0e3a3d1ba29e3aa6d8e"><td class="memItemLeft" align="right" valign="top"><a id="a3b00277586cab0e3a3d1ba29e3aa6d8e"></a>
+cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><b>getTranslationMatrix</b> (int axis='x', float theta=0.0, cv::Mat vec=cv::Mat())</td></tr>
+<tr class="separator:a3b00277586cab0e3a3d1ba29e3aa6d8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file is part of UnitreeCameraSDK, which declare unitree camera APIs. </p>
+<p>class <a class="el" href="class_unitree_camera.html">UnitreeCamera</a> inherits the APIs of class <a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> image capture, image rectification, disparity computation, depth image and point cloud generation update camera firmware, flash camera parameters to camera </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
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+   <div id="projectname">UnitreeCameraSDK
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+   <div id="projectbrief">unitree stereo camra apis</div>
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+<div class="title">UnitreeCameraSDK.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<a href="_unitree_camera_s_d_k_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#ifndef __UNITREE_CAMERA_SDK_HPP__</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#define __UNITREE_CAMERA_SDK_HPP__</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_stereo_camera_common_8hpp.html">StereoCameraCommon.hpp</a>&quot;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="class_unitree_camera.html">   19</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_unitree_camera.html">UnitreeCamera</a> : <span class="keyword">public</span> <a class="code" href="class_stereo_camera.html">StereoCamera</a></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;{</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160; 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+<div class="ttc" id="class_unitree_camera_html"><div class="ttname"><a href="class_unitree_camera.html">UnitreeCamera</a></div><div class="ttdef"><b>Definition:</b> UnitreeCameraSDK.hpp:19</div></div>
+<div class="ttc" id="class_stereo_camera_html"><div class="ttname"><a href="class_stereo_camera.html">StereoCamera</a></div><div class="ttdoc">this class integrate camera control and stereo vision algorithm </div><div class="ttdef"><b>Definition:</b> StereoCameraCommon.hpp:38</div></div>
+<div class="ttc" id="_stereo_camera_common_8hpp_html"><div class="ttname"><a href="_stereo_camera_common_8hpp.html">StereoCameraCommon.hpp</a></div><div class="ttdoc">This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs. </div></div>
+<div class="ttc" id="class_unitree_camera_html_aefb112b0fa677221163ddd18ccf08d8c"><div class="ttname"><a href="class_unitree_camera.html#aefb112b0fa677221163ddd18ccf08d8c">UnitreeCamera::~UnitreeCamera</a></div><div class="ttdeci">~UnitreeCamera(void)</div><div class="ttdoc">UnitreeCamera destructor. </div><div class="ttdef"><b>Definition:</b> UnitreeCameraSDK.cc:300</div></div>
+<div class="ttc" id="class_unitree_camera_html_a45e182540ab4bb59b68fb07c23bdd91f"><div class="ttname"><a href="class_unitree_camera.html#a45e182540ab4bb59b68fb07c23bdd91f">UnitreeCamera::checkFirmwareVersion</a></div><div class="ttdeci">bool checkFirmwareVersion(std::string &amp;version)</div><div class="ttdoc">check camera&amp;#39;s firmware version </div><div class="ttdef"><b>Definition:</b> UnitreeCameraSDK.cc:319</div></div>
+<div class="ttc" id="class_system_log_html"><div class="ttname"><a href="class_system_log.html">SystemLog</a></div><div class="ttdef"><b>Definition:</b> SystemLog.hpp:18</div></div>
+<div class="ttc" id="class_unitree_camera_html_af8a5e0c70f99096ecd378680d2f1ec27"><div class="ttname"><a href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera::UnitreeCamera</a></div><div class="ttdeci">UnitreeCamera()</div><div class="ttdoc">UnitreeCamera init unitree stereo camera object for default parameters. </div><div class="ttdef"><b>Definition:</b> UnitreeCameraSDK.cc:231</div></div>
+<div class="ttc" id="class_unitree_camera_html_abd0fd0e03ac98f90905ea582e4f397a7"><div class="ttname"><a href="class_unitree_camera.html#abd0fd0e03ac98f90905ea582e4f397a7">UnitreeCamera::updateFirmware</a></div><div class="ttdeci">bool updateFirmware(std::string fileName)</div><div class="ttdoc">update camera&amp;#39;s firmware </div><div class="ttdef"><b>Definition:</b> UnitreeCameraSDK.cc:309</div></div>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/annotated.html b/src/Robot/UnitreecameraSDK/doc/html/annotated.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Class List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
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+<div class="header">
+  <div class="headertitle">
+<div class="title">Class List</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><b>glwindow</b></td><td class="desc"></td></tr>
+<tr id="row_0_0_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classglwindow_1_1_event_dispatcher.html" target="_self">EventDispatcher</a></td><td class="desc"></td></tr>
+<tr id="row_0_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structglwindow_1_1_event_handler.html" target="_self">EventHandler</a></td><td class="desc"></td></tr>
+<tr id="row_0_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_2_" class="arrow" onclick="toggleFolder('0_2_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classglwindow_1_1_g_l_window.html" target="_self">GLWindow</a></td><td class="desc"></td></tr>
+<tr id="row_0_2_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structglwindow_1_1_g_l_window_1_1_scoped_context.html" target="_self">ScopedContext</a></td><td class="desc"></td></tr>
+<tr id="row_0_2_1_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_g_l_window_1_1_system_state.html" target="_self">SystemState</a></td><td class="desc"></td></tr>
+<tr id="row_0_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_3_" class="arrow" onclick="toggleFolder('0_3_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classglwindow_1_1_scene_window.html" target="_self">SceneWindow</a></td><td class="desc"></td></tr>
+<tr id="row_0_3_0_"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structglwindow_1_1_scene_window_1_1_viewpoint.html" target="_self">Viewpoint</a></td><td class="desc"></td></tr>
+<tr id="row_1_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct___device___point__.html" target="_self">_Device_Point_</a></td><td class="desc"></td></tr>
+<tr id="row_2_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classinfo__camera__os.html" target="_self">info_camera_os</a></td><td class="desc"></td></tr>
+<tr id="row_3_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classinfo__camera___string.html" target="_self">info_camera_String</a></td><td class="desc"></td></tr>
+<tr id="row_4_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="struct_p_c_l.html" target="_self">PCL</a></td><td class="desc">This struct is used for RGB point cloud capture and display </td></tr>
+<tr id="row_5_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_stereo_camera.html" target="_self">StereoCamera</a></td><td class="desc">This class integrate camera control and stereo vision algorithm </td></tr>
+<tr id="row_6_"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="class_system_log.html" target="_self">SystemLog</a></td><td class="desc"></td></tr>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CAMERA_API_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CAMERA_API_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#define MAX_PATH          260</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>       BYTE;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>      WORD;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span>       DWORD;</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> ULONG;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="keyword">typedef</span> <span class="keywordtype">void</span> *PVOID;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#define VOID void</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="classinfo__camera__os.html">   13</a></span>&#160;<span class="keyword">class </span><a class="code" href="classinfo__camera__os.html">info_camera_os</a>    <span class="comment">//get information from software</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;{</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    WORD vid;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    WORD pid;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    WORD bcdDevice;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keywordtype">char</span> deviceID[MAX_PATH];</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    <span class="keywordtype">char</span> device[MAX_PATH];</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    BYTE icType;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    uint64_t    busnum;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    uint64_t    devnum;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">char</span> location[MAX_PATH];</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;};</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="classinfo__camera___string.html">   28</a></span>&#160;<span class="keyword">class </span><a class="code" href="classinfo__camera___string.html">info_camera_String</a>    <span class="comment">//get information from software</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;{</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordtype">char</span> iManufacturer[MAX_PATH];</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordtype">char</span> iProduct[MAX_PATH];</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keywordtype">char</span> iSerialNumber[MAX_PATH];</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;};</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span>    int32_t Camera_Count(<span class="keywordtype">int</span> *Number);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; int32_t</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;Camera_UnInit();</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">typedef</span>  int32_t(*H_Fun_Pb)     (<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a> *, BYTE*);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">typedef</span>  int32_t(*H_Fun_HPb)    (<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a> *,  int32_t, BYTE*);</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="keyword">typedef</span>  int32_t(*H_Fun_WPb)        (<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a> *, WORD, BYTE*);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">typedef</span>  int32_t(*H_Fun_WB)     (<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a> *, WORD, BYTE);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">typedef</span>  int32_t(*H_Fun_BWPw)   (<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a> *, BYTE, WORD, WORD*);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">typedef</span>  int32_t(*H_Fun_BWW)        (<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a> *, BYTE, WORD, WORD);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">typedef</span>  int32_t(*H_Fun_IPb)        (<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a> *, int, BYTE*);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">typedef</span>  int32_t(*H_Fun_Cinfo)  (<span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a> *, <a class="code" href="classinfo__camera__os.html">info_camera_os</a>*);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span 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href="struct___device___point__.html">_Device_Point_</a> *, WORD,  BYTE*, BYTE);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="struct___device___point__.html">   96</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct___device___point__.html">_Device_Point_</a></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;{</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="comment">/***************所有的信息均为只读不允许修改赋值******************/</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">//节点定位</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    uint32_t    u_index;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="comment">//Flash类型</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    BYTE        FlashType;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    BYTE        ISP_ID;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="comment">//节点信息</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    PVOID       p_device;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="comment">//读取Flash 4K大小</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="comment">//参数 sizeof(buff) &gt;= 0x1000</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="comment">//return      -1 dll没有被加载          0成功</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    H_Fun_IPb   Falsh_R;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <span class="comment">//写Flash 4K大小</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="comment">//参数 sizeof(buff) &gt;= 0x1000</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="comment">//return      -1 dll没有被加载          0成功</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    H_Fun_IPb   Falsh_W;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    H_Fun_Cinfo pInfo;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    H_Fun_WB    Set_ISP_Reg;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    H_Fun_WPb   Get_ISP_Reg;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    H_Fun_BWW   Set_Sensor_Reg;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    H_Fun_BWPw  Get_Sensor_Reg;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="comment">/****************************************</span></div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">    函数功能:           获取Gpio输入状态</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">    函数指针原型:</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">     int32_t</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment">    Camera_Get_Input_GPIO_Api(pDevice_Point pMes,</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="comment">    ULONG GPIO_ID,</span></div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="comment">    BYTE*status)</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="comment">    形参说明:</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="comment">    pMes    : 节点;</span></div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;<span class="comment">    GPIO_ID : GPIO枚举类型</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="comment">    *status : 状态 0-&gt;低 1-&gt;高</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">    返回值:</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;<span class="comment">    S_OK    == 0</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="comment">    指针为空不支持该操作</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="comment">    *****************************************/</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    Input_GPIO_Get      Input_Gpio_Get;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="comment">/****************************************</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="comment">    函数功能:           设置Gpio输出值</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="comment">    函数指针原型:</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;<span class="comment">     int32_t</span></div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="comment">     int32_t</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment">    Camera_Set_Output_GPIO_Api(pDevice_Point pMes,</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="comment">    ULONG GPIO_ID,</span></div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;<span class="comment">    BYTE status)</span></div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;<span class="comment">    形参说明:</span></div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">    pMes    : 节点;</span></div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment">    GPIO_ID : GPIO枚举类型</span></div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment">    status : 状态 0-&gt;低 1-&gt;高</span></div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">    返回值:</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">    S_OK    == 0</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">    指针为空不支持该操作</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment">    *****************************************/</span></div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;    Output_GPIO_Set     Output_Gpio_set;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">/****************************************</span></div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="comment">    函数功能:           Gpio输入模式初始化</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="comment">    函数指针原型:</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="comment">     int32_t</span></div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;<span class="comment">    Input_GPIO_Init_Api (pDevice_Point pMes,</span></div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;<span class="comment">    ULONG GPIO_ID)</span></div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="comment">    形参说明:</span></div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="comment">    pMes    : 节点;</span></div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;<span class="comment">    GPIO_ID : GPIO枚举类型</span></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;<span class="comment">    返回值:</span></div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="comment">    S_OK    == 0</span></div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="comment">    指针为空不支持该操作</span></div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="comment">    *****************************************/</span></div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    Input_GPIO_Init     Input_Gpio_init;</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="comment">/****************************************</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="comment">    函数功能:           Gpio输出模式初始化</span></div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;<span class="comment">    函数指针原型:</span></div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="comment">     int32_t</span></div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="comment">    Output_GPIO_Init_Api    (pDevice_Point pMes,</span></div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="comment">    ULONG GPIO_ID)</span></div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="comment">    形参说明:</span></div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="comment">    pMes    : 节点;</span></div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="comment">    GPIO_ID : GPIO枚举类型</span></div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="comment">    返回值:</span></div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="comment">    S_OK    == 0</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment">    指针为空不支持该操作</span></div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment">    *****************************************/</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    Output_GPIO_Init    Output_Gpio_init;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    PVOID           RES_1;</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    PVOID           RES_2;</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    H_Fun_CinfoStr      pInfoStr;</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    pExID               pExid_R;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    pExID               pExid_W;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    PVOID               respoint;</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    pCUSTOMERFun        pCustomer;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;</div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}<a class="code" href="struct___device___point__.html">Device_Point</a>,*<a class="code" href="struct___device___point__.html">pDevice_Point</a>;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;pDevice_Point</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;Camera_Device_Point_Init(<span class="keywordtype">int</span> tar_device_index);</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;VOID</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;Camera_Device_Point_UnInit(pDevice_Point *PPDevice);</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;int32_t</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;Camera_Get_information_Api(pDevice_Point pMes, <a class="code" href="classinfo__camera__os.html">info_camera_os</a>* pinfo);</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; int32_t</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;Camera_Flash_R_Api(pDevice_Point pMes, <span class="keywordtype">int</span> piece_Index, BYTE*buff);</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; int32_t</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;Camera_Flash_W_Api(pDevice_Point pMes, <span class="keywordtype">int</span> piece_Index, BYTE*buff);</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; int32_t</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;Camera_Get_Info_String_Api(pDevice_Point pMes, <a class="code" href="classinfo__camera___string.html">info_camera_String</a>* Str);</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;<span class="keywordtype">void</span>*</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;Camera_Customer_Api(pDevice_Point pMes, uint16_t <span class="keywordtype">id</span>, uint8_t*pdata, uint8_t len);</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;int32_t</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;Camera_Updata(pDevice_Point pMes, uint8_t *FW, uint32_t SIZE, <span class="keywordtype">float</span> *pf_Schedule);</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="preprocessor">#endif // CAMERA_API_H</span></div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;</div><div class="ttc" id="classinfo__camera__os_html"><div class="ttname"><a href="classinfo__camera__os.html">info_camera_os</a></div><div class="ttdef"><b>Definition:</b> camera_api.h:13</div></div>
+<div class="ttc" id="struct___device___point___html"><div class="ttname"><a href="struct___device___point__.html">_Device_Point_</a></div><div class="ttdef"><b>Definition:</b> camera_api.h:96</div></div>
+<div class="ttc" id="classinfo__camera___string_html"><div class="ttname"><a href="classinfo__camera___string.html">info_camera_String</a></div><div class="ttdef"><b>Definition:</b> camera_api.h:28</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/class_stereo_camera-members.html b/src/Robot/UnitreecameraSDK/doc/html/class_stereo_camera-members.html
new file mode 100644
index 0000000..c12fc55
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/class_stereo_camera-members.html
@@ -0,0 +1,112 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">StereoCamera Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_stereo_camera.html">StereoCamera</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">getCalibParams</a>(std::vector&lt; cv::Mat &gt; &amp;paramsArray, bool flag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">getDepthFrame</a>(cv::Mat &amp;depth, bool color, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">getDeviceNode</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">getLogLevel</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getPointCloud</b>(std::vector&lt; cv::Vec3f &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getPointCloud</b>(std::vector&lt; PCLType &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">getPosNumber</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">getRawFrame</a>(cv::Mat &amp;frame, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">getRawFrameRate</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">getRawFrameSize</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getRectStereoFrame</b>(cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getRectStereoFrame</b>(cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">getSerialNumber</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">getStereoFrame</a>(cv::Mat &amp;left, cv::Mat &amp;right, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">isOpened</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">loadCalibParams</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">saveCalibParams</a>(std::string fileName=&quot;stereo_camera_calibparams.yaml&quot;)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a>(std::string fileName=&quot;stereo_camera_config.yaml&quot;)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">setCalibParams</a>(std::vector&lt; cv::Mat &gt; paramsArray, bool flag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">setLogLevel</a>(int level)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">setPosNumber</a>(int posNumber)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">setRawFrameRate</a>(int frameRate)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a>(cv::Size frameSize)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">setRectFrameSize</a>(cv::Size frameSize)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">setSerialNumber</a>(int serialNumber)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>(bool udpFlag=false, bool shmFlag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>StereoCamera</b>(std::string fileName) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>StereoCamera</b>(int deviceNode) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">stopCapture</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">~StereoCamera</a>()</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/class_stereo_camera.html b/src/Robot/UnitreecameraSDK/doc/html/class_stereo_camera.html
new file mode 100644
index 0000000..0119b0d
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/class_stereo_camera.html
@@ -0,0 +1,1340 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: StereoCamera Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_stereo_camera-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">StereoCamera Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>this class integrate camera control and stereo vision algorithm  
+ <a href="class_stereo_camera.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_stereo_camera_common_8hpp_source.html">StereoCameraCommon.hpp</a>&gt;</code></p>
+<div class="dynheader">
+Inheritance diagram for StereoCamera:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_stereo_camera__inherit__graph.png" border="0" usemap="#_stereo_camera_inherit__map" alt="Inheritance graph"/></div>
+<map name="_stereo_camera_inherit__map" id="_stereo_camera_inherit__map">
+<area shape="rect" id="node2" href="class_unitree_camera.html" title="UnitreeCamera" alt="" coords="5,80,116,107"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a6d9ac42b50dc07f5f846336ffd29e752"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a> (void)</td></tr>
+<tr class="memdesc:a6d9ac42b50dc07f5f846336ffd29e752"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a>.  <a href="#a6d9ac42b50dc07f5f846336ffd29e752">More...</a><br /></td></tr>
+<tr class="separator:a6d9ac42b50dc07f5f846336ffd29e752"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5caa5f91c77562d8b6183ef153a943c"><td class="memItemLeft" align="right" valign="top"><a id="ad5caa5f91c77562d8b6183ef153a943c"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>StereoCamera</b> (std::string fileName)</td></tr>
+<tr class="separator:ad5caa5f91c77562d8b6183ef153a943c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6e0d6591990e7f8d175d67e9609c8a4c"><td class="memItemLeft" align="right" valign="top"><a id="a6e0d6591990e7f8d175d67e9609c8a4c"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>StereoCamera</b> (int deviceNode)</td></tr>
+<tr class="separator:a6e0d6591990e7f8d175d67e9609c8a4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2b36ce592e0e2bf0850d37681c51ae60"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">~StereoCamera</a> ()</td></tr>
+<tr class="memdesc:a2b36ce592e0e2bf0850d37681c51ae60"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> destructor.  <a href="#a2b36ce592e0e2bf0850d37681c51ae60">More...</a><br /></td></tr>
+<tr class="separator:a2b36ce592e0e2bf0850d37681c51ae60"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47c0d9ee727f13af5d348db9f217a44b"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">isOpened</a> (void)</td></tr>
+<tr class="memdesc:a47c0d9ee727f13af5d348db9f217a44b"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera running status  <a href="#a47c0d9ee727f13af5d348db9f217a44b">More...</a><br /></td></tr>
+<tr class="separator:a47c0d9ee727f13af5d348db9f217a44b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adb684170c2180eb2109f9eecd1723c1c"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">setLogLevel</a> (int level)</td></tr>
+<tr class="memdesc:adb684170c2180eb2109f9eecd1723c1c"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera ouput log level  <a href="#adb684170c2180eb2109f9eecd1723c1c">More...</a><br /></td></tr>
+<tr class="separator:adb684170c2180eb2109f9eecd1723c1c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad570580bd5b16ac58831d57ffd23ce5b"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">setPosNumber</a> (int posNumber)</td></tr>
+<tr class="memdesc:ad570580bd5b16ac58831d57ffd23ce5b"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera position number  <a href="#ad570580bd5b16ac58831d57ffd23ce5b">More...</a><br /></td></tr>
+<tr class="separator:ad570580bd5b16ac58831d57ffd23ce5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a110ad0dc21cea5bfa5607752fc858163"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">setSerialNumber</a> (int serialNumber)</td></tr>
+<tr class="memdesc:a110ad0dc21cea5bfa5607752fc858163"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera serial number  <a href="#a110ad0dc21cea5bfa5607752fc858163">More...</a><br /></td></tr>
+<tr class="separator:a110ad0dc21cea5bfa5607752fc858163"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa28635e45b1d0ade5353a69e2a7175e4"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">setRawFrameRate</a> (int frameRate)</td></tr>
+<tr class="memdesc:aa28635e45b1d0ade5353a69e2a7175e4"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera FPS (Frames Per Seconds)  <a href="#aa28635e45b1d0ade5353a69e2a7175e4">More...</a><br /></td></tr>
+<tr class="separator:aa28635e45b1d0ade5353a69e2a7175e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adb1ed69d226251cd050b1deab0270af8"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a> (cv::Size frameSize)</td></tr>
+<tr class="memdesc:adb1ed69d226251cd050b1deab0270af8"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera frame size  <a href="#adb1ed69d226251cd050b1deab0270af8">More...</a><br /></td></tr>
+<tr class="separator:adb1ed69d226251cd050b1deab0270af8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2d8d3a96e0ac426af20a3e88df0167a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">setRectFrameSize</a> (cv::Size frameSize)</td></tr>
+<tr class="memdesc:ac2d8d3a96e0ac426af20a3e88df0167a"><td class="mdescLeft">&#160;</td><td class="mdescRight">set rectification image size  <a href="#ac2d8d3a96e0ac426af20a3e88df0167a">More...</a><br /></td></tr>
+<tr class="separator:ac2d8d3a96e0ac426af20a3e88df0167a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98d7546631507bcede3c9a850e69db7a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">setCalibParams</a> (std::vector&lt; cv::Mat &gt; paramsArray, bool flag=false)</td></tr>
+<tr class="memdesc:a98d7546631507bcede3c9a850e69db7a"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera calibration parameters  <a href="#a98d7546631507bcede3c9a850e69db7a">More...</a><br /></td></tr>
+<tr class="separator:a98d7546631507bcede3c9a850e69db7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a105495e27d95f3f905ef1de0f9866c70"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">getLogLevel</a> (void) const</td></tr>
+<tr class="memdesc:a105495e27d95f3f905ef1de0f9866c70"><td class="mdescLeft">&#160;</td><td class="mdescRight">get log system output level  <a href="#a105495e27d95f3f905ef1de0f9866c70">More...</a><br /></td></tr>
+<tr class="separator:a105495e27d95f3f905ef1de0f9866c70"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a34d50c8166cf8f3f76fff5789f8f1eee"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">getDeviceNode</a> (void) const</td></tr>
+<tr class="memdesc:a34d50c8166cf8f3f76fff5789f8f1eee"><td class="mdescLeft">&#160;</td><td class="mdescRight">get camera device node  <a href="#a34d50c8166cf8f3f76fff5789f8f1eee">More...</a><br /></td></tr>
+<tr class="separator:a34d50c8166cf8f3f76fff5789f8f1eee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab844029084a9a9de0996c1e7b24c258c"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">getPosNumber</a> (void) const</td></tr>
+<tr class="memdesc:ab844029084a9a9de0996c1e7b24c258c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera device node  <a href="#ab844029084a9a9de0996c1e7b24c258c">More...</a><br /></td></tr>
+<tr class="separator:ab844029084a9a9de0996c1e7b24c258c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3cb43015d545854892dd2e4057f5b2be"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">getSerialNumber</a> (void) const</td></tr>
+<tr class="memdesc:a3cb43015d545854892dd2e4057f5b2be"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera serial number  <a href="#a3cb43015d545854892dd2e4057f5b2be">More...</a><br /></td></tr>
+<tr class="separator:a3cb43015d545854892dd2e4057f5b2be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac92c3a60ae0c38e203c81bb2a2738eb4"><td class="memItemLeft" align="right" valign="top">virtual float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">getRawFrameRate</a> (void) const</td></tr>
+<tr class="memdesc:ac92c3a60ae0c38e203c81bb2a2738eb4"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera capture frame rate  <a href="#ac92c3a60ae0c38e203c81bb2a2738eb4">More...</a><br /></td></tr>
+<tr class="separator:ac92c3a60ae0c38e203c81bb2a2738eb4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38c990b26167c2f7823b20f44b1a8fa7"><td class="memItemLeft" align="right" valign="top">virtual cv::Size&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">getRawFrameSize</a> (void) const</td></tr>
+<tr class="memdesc:a38c990b26167c2f7823b20f44b1a8fa7"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera frame size  <a href="#a38c990b26167c2f7823b20f44b1a8fa7">More...</a><br /></td></tr>
+<tr class="separator:a38c990b26167c2f7823b20f44b1a8fa7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8fbb6e1ebd828b1640d43ad7cdc0f9c"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">getRawFrame</a> (cv::Mat &amp;frame, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="memdesc:ac8fbb6e1ebd828b1640d43ad7cdc0f9c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera raw frame  <a href="#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">More...</a><br /></td></tr>
+<tr class="separator:ac8fbb6e1ebd828b1640d43ad7cdc0f9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa25f48d95ba8d1c71fb0e40b53f68379"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">getStereoFrame</a> (cv::Mat &amp;left, cv::Mat &amp;right, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="memdesc:aa25f48d95ba8d1c71fb0e40b53f68379"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera left and right image  <a href="#aa25f48d95ba8d1c71fb0e40b53f68379">More...</a><br /></td></tr>
+<tr class="separator:aa25f48d95ba8d1c71fb0e40b53f68379"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa0bd7e3a7ab4fcf2598ac4e780a27cb3"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">getDepthFrame</a> (cv::Mat &amp;depth, bool color, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="memdesc:aa0bd7e3a7ab4fcf2598ac4e780a27cb3"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera depth image  <a href="#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">More...</a><br /></td></tr>
+<tr class="separator:aa0bd7e3a7ab4fcf2598ac4e780a27cb3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed61a02ac44c99be0aa62afea2ad9ed8"><td class="memItemLeft" align="right" valign="top"><a id="aed61a02ac44c99be0aa62afea2ad9ed8"></a>
+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getPointCloud</b> (std::vector&lt; cv::Vec3f &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="separator:aed61a02ac44c99be0aa62afea2ad9ed8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac571ca8f4dc4783052bdab22f68a1ac1"><td class="memItemLeft" align="right" valign="top"><a id="ac571ca8f4dc4783052bdab22f68a1ac1"></a>
+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getPointCloud</b> (std::vector&lt; <a class="el" href="struct_p_c_l.html">PCLType</a> &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="separator:ac571ca8f4dc4783052bdab22f68a1ac1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61ea11e661cca31acb780edbbba1d32e"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">getCalibParams</a> (std::vector&lt; cv::Mat &gt; &amp;paramsArray, bool flag=false)</td></tr>
+<tr class="memdesc:a61ea11e661cca31acb780edbbba1d32e"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera calibration paramerters  <a href="#a61ea11e661cca31acb780edbbba1d32e">More...</a><br /></td></tr>
+<tr class="separator:a61ea11e661cca31acb780edbbba1d32e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a2a8d258ad08a80ab02932d5248850e"><td class="memItemLeft" align="right" valign="top"><a id="a6a2a8d258ad08a80ab02932d5248850e"></a>
+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getRectStereoFrame</b> (cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim)</td></tr>
+<tr class="separator:a6a2a8d258ad08a80ab02932d5248850e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2730d460983ce6af37a4cf13025b4ed8"><td class="memItemLeft" align="right" valign="top"><a id="a2730d460983ce6af37a4cf13025b4ed8"></a>
+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getRectStereoFrame</b> (cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="separator:a2730d460983ce6af37a4cf13025b4ed8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe25245d518e12c6f0a685d7da7a2979"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a> (std::string fileName)</td></tr>
+<tr class="memdesc:afe25245d518e12c6f0a685d7da7a2979"><td class="mdescLeft">&#160;</td><td class="mdescRight">load stereo camera config parameters  <a href="#afe25245d518e12c6f0a685d7da7a2979">More...</a><br /></td></tr>
+<tr class="separator:afe25245d518e12c6f0a685d7da7a2979"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afb896942fb7fe1ea33c80ec9dcefa6a0"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">loadCalibParams</a> (std::string fileName)</td></tr>
+<tr class="memdesc:afb896942fb7fe1ea33c80ec9dcefa6a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">load stereo camera calibration params  <a href="#afb896942fb7fe1ea33c80ec9dcefa6a0">More...</a><br /></td></tr>
+<tr class="separator:afb896942fb7fe1ea33c80ec9dcefa6a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a568930e8b3668361fedad5233ab5ba47"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a> (std::string fileName=&quot;stereo_camera_config.yaml&quot;)</td></tr>
+<tr class="memdesc:a568930e8b3668361fedad5233ab5ba47"><td class="mdescLeft">&#160;</td><td class="mdescRight">save stereo camera settings to config file  <a href="#a568930e8b3668361fedad5233ab5ba47">More...</a><br /></td></tr>
+<tr class="separator:a568930e8b3668361fedad5233ab5ba47"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7611e0d97d57abf36b4fa7dca2a3cfc5"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">saveCalibParams</a> (std::string fileName=&quot;stereo_camera_calibparams.yaml&quot;)</td></tr>
+<tr class="memdesc:a7611e0d97d57abf36b4fa7dca2a3cfc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">save stereo camera calibration parameters to file  <a href="#a7611e0d97d57abf36b4fa7dca2a3cfc5">More...</a><br /></td></tr>
+<tr class="separator:a7611e0d97d57abf36b4fa7dca2a3cfc5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4e5146c1d33ab5f4f9a3995b93e3cbc5"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a> (bool udpFlag=false, bool shmFlag=false)</td></tr>
+<tr class="memdesc:a4e5146c1d33ab5f4f9a3995b93e3cbc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">start stereo camera capture thread  <a href="#a4e5146c1d33ab5f4f9a3995b93e3cbc5">More...</a><br /></td></tr>
+<tr class="separator:a4e5146c1d33ab5f4f9a3995b93e3cbc5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb6da9140cb988beb753514e7416032b"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a> (void)</td></tr>
+<tr class="memdesc:abb6da9140cb988beb753514e7416032b"><td class="mdescLeft">&#160;</td><td class="mdescRight">start stereo camera computing disparity thread  <a href="#abb6da9140cb988beb753514e7416032b">More...</a><br /></td></tr>
+<tr class="separator:abb6da9140cb988beb753514e7416032b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3597295e386dfe27474ff0e9567e6d6c"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a> (void)</td></tr>
+<tr class="memdesc:a3597295e386dfe27474ff0e9567e6d6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop stereo camera computing disparity thread  <a href="#a3597295e386dfe27474ff0e9567e6d6c">More...</a><br /></td></tr>
+<tr class="separator:a3597295e386dfe27474ff0e9567e6d6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c9f54bf349fd4dc5a8ba9fd26f22c31"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">stopCapture</a> (void)</td></tr>
+<tr class="memdesc:a8c9f54bf349fd4dc5a8ba9fd26f22c31"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop stereo camera capture thread  <a href="#a8c9f54bf349fd4dc5a8ba9fd26f22c31">More...</a><br /></td></tr>
+<tr class="separator:a8c9f54bf349fd4dc5a8ba9fd26f22c31"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>this class integrate camera control and stereo vision algorithm </p>
+<p>this class is the base of UnitreeCameraSDK, it includes many functions, such as camera frame capturing, image rectification, disparity computation, generating point cloud and etc. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6d9ac42b50dc07f5f846336ffd29e752"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6d9ac42b50dc07f5f846336ffd29e752">&#9670;&nbsp;</a></span>StereoCamera()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">StereoCamera::StereoCamera </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a>. </p>
+<p><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> constructor overload.</p>
+<p>default constructor </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>initialize <a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> object by default settings <div class="fragment"><div class="line"><a class="code" href="class_stereo_camera.html">StereoCamera</a> *pCam = <span class="keyword">new</span> <a class="code" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(); or <a class="code" href="class_stereo_camera.html">StereoCamera</a> cam;</div></div><!-- fragment --></dd></dl>
+<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.</p>
+<p>use camera config file to init stereo camera </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>camera config file, include file path, for example: ~/test/stereoConfig.yaml </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>initialize <a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> object by settings from configure file <div class="fragment"><div class="line"><a class="code" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(<span class="stringliteral">&quot;path_to/config.yaml&quot;</span>);</div></div><!-- fragment --></dd></dl>
+<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.</p>
+<p>use camera device node number to init stereo camera </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">deviceNode</td><td>camera device node, for example: /dev/video0, camera device node: 0 </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>initialize <a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> object by device node number <div class="fragment"><div class="line"><a class="code" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(0); <span class="comment">// for /dev/video0</span></div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a2b36ce592e0e2bf0850d37681c51ae60"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2b36ce592e0e2bf0850d37681c51ae60">&#9670;&nbsp;</a></span>~StereoCamera()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">StereoCamera::~StereoCamera </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> destructor. </p>
+<p>release all stereo camera resource </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>automatically called when <a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> object released </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a61ea11e661cca31acb780edbbba1d32e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a61ea11e661cca31acb780edbbba1d32e">&#9670;&nbsp;</a></span>getCalibParams()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::getCalibParams </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; cv::Mat &gt; &amp;&#160;</td>
+          <td class="paramname"><em>paramsArray</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>flag</em> = <code>false</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera calibration paramerters </p>
+<p>calibration paramerters include: camera intrinsic matrix, camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">flag</td><td>default false, false: get left camera parameters, true: get right camera parameters. </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">paramsArray</td><td>arrange Array element as follows: intrinsic,distortion,xi,rotation,translation,kfe </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if assignment successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>This funtion must be called after <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5" title="start stereo camera capture thread ">startCapture()</a> </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.startCapture();</div><div class="line">std::vector&lt;cv::Mat&gt; paramsArray;</div><div class="line"><span class="keywordflow">if</span>(cam.getCalibParams(paramsArray)){</div><div class="line">    <span class="comment">//do something</span></div><div class="line">}</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="aa0bd7e3a7ab4fcf2598ac4e780a27cb3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">&#9670;&nbsp;</a></span>getDepthFrame()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::getDepthFrame </td>
+          <td>(</td>
+          <td class="paramtype">cv::Mat &amp;&#160;</td>
+          <td class="paramname"><em>depth</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>color</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::chrono::microseconds &amp;&#160;</td>
+          <td class="paramname"><em>timeStamp</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera depth image </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">color</td><td>true: depth is color image, false:depth is gray image </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">depth</td><td>left image </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">timeStamp</td><td>frame time stamp </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if depth image is not empty, return true, otherwise return false. </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>This funtion must be called after <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5" title="start stereo camera capture thread ">startCapture()</a>. </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.startCapture();</div><div class="line">cam.startStereoCompute();</div><div class="line">cv::Mat depth;</div><div class="line">std::chrono::microseconds timeStamp;</div><div class="line"><span class="keywordflow">if</span>(cam.getPointCloud(depth, <span class="keyword">true</span>, timeStamp)){</div><div class="line">    <span class="comment">//do something</span></div><div class="line">}</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a34d50c8166cf8f3f76fff5789f8f1eee"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a34d50c8166cf8f3f76fff5789f8f1eee">&#9670;&nbsp;</a></span>getDeviceNode()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int StereoCamera::getDeviceNode </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get camera device node </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>device node number </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>for example: /dev/video2, device node number is 2, the return value of function is 2. <div class="fragment"><div class="line"><span class="keywordtype">int</span> nodeNumber = cam.getDeviceNode();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a105495e27d95f3f905ef1de0f9866c70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a105495e27d95f3f905ef1de0f9866c70">&#9670;&nbsp;</a></span>getLogLevel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int StereoCamera::getLogLevel </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get log system output level </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>log level </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>1: output runtime information, 2: output runtime infomation and debug information <div class="fragment"><div class="line"><span class="keywordtype">int</span> LogLevel = cam.getLogLevel();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ab844029084a9a9de0996c1e7b24c258c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab844029084a9a9de0996c1e7b24c258c">&#9670;&nbsp;</a></span>getPosNumber()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int StereoCamera::getPosNumber </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera device node </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>positon number </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>face NO.1, chin NO.2, left NO.3, right NO.4, down NO.5 <div class="fragment"><div class="line"><span class="keywordtype">int</span> posNum = cam.getPosNumber();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ac8fbb6e1ebd828b1640d43ad7cdc0f9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">&#9670;&nbsp;</a></span>getRawFrame()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::getRawFrame </td>
+          <td>(</td>
+          <td class="paramtype">cv::Mat &amp;&#160;</td>
+          <td class="paramname"><em>frame</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::chrono::microseconds &amp;&#160;</td>
+          <td class="paramname"><em>timeStamp</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera raw frame </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">frame</td><td>raw frame, include left and right image </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">timeStamp</td><td>raw frame time stamp </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if frame is not empty, return true, otherwise return false. </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cv::Mat frame;</div><div class="line">std::chrono::microseconds timeStamp</div><div class="line">cam.getRawFrame(frame, timeStamp);</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ac92c3a60ae0c38e203c81bb2a2738eb4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac92c3a60ae0c38e203c81bb2a2738eb4">&#9670;&nbsp;</a></span>getRawFrameRate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">float StereoCamera::getRawFrameRate </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera capture frame rate </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>current stereo camera fps. <div class="fragment"><div class="line"><span class="keywordtype">float</span> fps = <a class="code" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">getRawFrameRate</a>();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a38c990b26167c2f7823b20f44b1a8fa7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38c990b26167c2f7823b20f44b1a8fa7">&#9670;&nbsp;</a></span>getRawFrameSize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">cv::Size StereoCamera::getRawFrameSize </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera frame size </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>frame size. <div class="fragment"><div class="line">cv::Size fSize = cam.getRawFrameSize();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a3cb43015d545854892dd2e4057f5b2be"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3cb43015d545854892dd2e4057f5b2be">&#9670;&nbsp;</a></span>getSerialNumber()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int StereoCamera::getSerialNumber </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera serial number </p>
+<p>this number is same as robot serial number </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>robot serial number </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line"><span class="keywordtype">int</span> seiralNumber = cam.getSerialNumber();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="aa25f48d95ba8d1c71fb0e40b53f68379"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa25f48d95ba8d1c71fb0e40b53f68379">&#9670;&nbsp;</a></span>getStereoFrame()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::getStereoFrame </td>
+          <td>(</td>
+          <td class="paramtype">cv::Mat &amp;&#160;</td>
+          <td class="paramname"><em>left</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">cv::Mat &amp;&#160;</td>
+          <td class="paramname"><em>right</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::chrono::microseconds &amp;&#160;</td>
+          <td class="paramname"><em>timeStamp</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera left and right image </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">left</td><td>left image </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">right</td><td>right image </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">timeStamp</td><td>frame time stamp </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if left and right images are not empty, return true, otherwise return false. </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>This funtion must be called after <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5" title="start stereo camera capture thread ">startCapture()</a>. </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.startCapture();</div><div class="line">cv::Mat left, right;</div><div class="line">std::chrono::microseconds timeStamp;</div><div class="line"><span class="keywordflow">if</span>(cam.getRawFrame(left,right, timeStamp)){</div><div class="line">    <span class="comment">//do something</span></div><div class="line">}</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a47c0d9ee727f13af5d348db9f217a44b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a47c0d9ee727f13af5d348db9f217a44b">&#9670;&nbsp;</a></span>isOpened()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::isOpened </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get stereo camera running status </p>
+<p>detect camera is opened or closed </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if camera is opened return true, otherwise return false </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>tell camera running status, it should be called after <a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> object initialization <div class="fragment"><div class="line"><a class="code" href="class_stereo_camera.html">StereoCamera</a> cam;</div><div class="line"><span class="keywordflow">if</span>(cam.<a class="code" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">isOpened</a>())</div><div class="line">    printf(<span class="stringliteral">&quot;Camera is opened!&quot;</span>);</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="afb896942fb7fe1ea33c80ec9dcefa6a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afb896942fb7fe1ea33c80ec9dcefa6a0">&#9670;&nbsp;</a></span>loadCalibParams()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::loadCalibParams </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>fileName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>load stereo camera calibration params </p>
+<p>calibration paramerters include: camera intrinsic matrix, camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix, etc. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>calibration file name: include file path, for example: "path_to/calib.yaml" </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if load file successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>This funtion must be called before <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5" title="start stereo camera capture thread ">startCapture()</a> and after loadConfig("xxx"); </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a>(<span class="stringliteral">&quot;path_to/config.yaml&quot;</span>);</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">loadCalibParams</a>(<span class="stringliteral">&quot;path_to/calib.yaml&quot;</span>);</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="afe25245d518e12c6f0a685d7da7a2979"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe25245d518e12c6f0a685d7da7a2979">&#9670;&nbsp;</a></span>loadConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::loadConfig </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>fileName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>load stereo camera config parameters </p>
+<p>parameters include: LogLevel,Threshold,Algorithm,IpLastSegment, DeviceNode,FrameSize,RectifyFrameSize,FrameRate, etc. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>config name: include config path, for example: "path_to/config.yaml" </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if load config file successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>This funtion must be called before <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5" title="start stereo camera capture thread ">startCapture()</a> and after init the camera object. </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a>(<span class="stringliteral">&quot;path_to/config.yaml&quot;</span>);</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a7611e0d97d57abf36b4fa7dca2a3cfc5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7611e0d97d57abf36b4fa7dca2a3cfc5">&#9670;&nbsp;</a></span>saveCalibParams()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::saveCalibParams </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>fileName</em> = <code>&quot;stereo_camera_calibparams.yaml&quot;</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>save stereo camera calibration parameters to file </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>default name: stereo_camera_calibparams.yaml, output file: include file path, for example: "path_to/calib.yaml" </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if save file successfully return true, otherwise return false <div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a>(<span class="stringliteral">&quot;stereo_camera_config.yaml&quot;</span>);</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a568930e8b3668361fedad5233ab5ba47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a568930e8b3668361fedad5233ab5ba47">&#9670;&nbsp;</a></span>saveConfig()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::saveConfig </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>fileName</em> = <code>&quot;stereo_camera_config.yaml&quot;</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>save stereo camera settings to config file </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>default name: stereo_camera_config.yaml, output config file: include file path, for example: "path_to/config.yaml" </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if save file successfully return true, otherwise return false <div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a>(<span class="stringliteral">&quot;stereo_camera_config.yaml&quot;</span>);</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a98d7546631507bcede3c9a850e69db7a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a98d7546631507bcede3c9a850e69db7a">&#9670;&nbsp;</a></span>setCalibParams()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::setCalibParams </td>
+          <td>(</td>
+          <td class="paramtype">std::vector&lt; cv::Mat &gt;&#160;</td>
+          <td class="paramname"><em>paramsArray</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>flag</em> = <code>false</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set stereo camera calibration parameters </p>
+<p>calibration paramerters include: camera intrinsic matrix, camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">paramsArray</td><td>arrange Array element as follows: intrinsic,distortion,xi,rotation,translation,kfe </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">flag</td><td>false: set left camera params, true: right camera params </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if assignment successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>the order of parameters should be correct </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">std::vector&lt;cv::Mat&gt; leftParamsArray;</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">setCalibParams</a>(leftParamsArray);</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="adb684170c2180eb2109f9eecd1723c1c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb684170c2180eb2109f9eecd1723c1c">&#9670;&nbsp;</a></span>setLogLevel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::setLogLevel </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>level</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set stereo camera ouput log level </p>
+<p>log level means that different kind of information will be output </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">level</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if assignment successfully return true, otherwise return false </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>output information starts with "StereoCamera", it should be called after <a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> object initialization <div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">setLogLevel</a>(2); <span class="comment">//debug level </span></div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ad570580bd5b16ac58831d57ffd23ce5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad570580bd5b16ac58831d57ffd23ce5b">&#9670;&nbsp;</a></span>setPosNumber()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::setPosNumber </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>posNumber</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set stereo camera position number </p>
+<p>position number means that the number of camera location in robot body </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">posNumber</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if assignment successfully return true, otherwise return false </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>face NO.1, chin NO.2, left NO.3, right NO.4, down NO.5 <div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">setPosNumber</a>(2);</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="aa28635e45b1d0ade5353a69e2a7175e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa28635e45b1d0ade5353a69e2a7175e4">&#9670;&nbsp;</a></span>setRawFrameRate()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::setRawFrameRate </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>frameRate</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set stereo camera FPS (Frames Per Seconds) </p>
+<p>for 1856X800 FPS:30, for 928x400 FPS:30 or 60 </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frameRate</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if assignment successfully return true, otherwise return false </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">setRawFrameRate</a>(30)</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="adb1ed69d226251cd050b1deab0270af8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb1ed69d226251cd050b1deab0270af8">&#9670;&nbsp;</a></span>setRawFrameSize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::setRawFrameSize </td>
+          <td>(</td>
+          <td class="paramtype">cv::Size&#160;</td>
+          <td class="paramname"><em>frameSize</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set stereo camera frame size </p>
+<p>There are two choise: 1856X800,928x400. </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frameSize</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if assignment successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>if do not assign frameSize, default size is 1856x800 </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a>(cv::Size(1856, 800));</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ac2d8d3a96e0ac426af20a3e88df0167a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac2d8d3a96e0ac426af20a3e88df0167a">&#9670;&nbsp;</a></span>setRectFrameSize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::setRectFrameSize </td>
+          <td>(</td>
+          <td class="paramtype">cv::Size&#160;</td>
+          <td class="paramname"><em>frameSize</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set rectification image size </p>
+<p>this size should keep ratio as camera raw image size, for example: raw single frame size: 928x800 rectification image size: 464x400 or 232x200 </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">frameSize</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if assignment successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>rectification image size must be smaller than camera raw single image size </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a>(cv::Size(464, 400));</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a110ad0dc21cea5bfa5607752fc858163"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a110ad0dc21cea5bfa5607752fc858163">&#9670;&nbsp;</a></span>setSerialNumber()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::setSerialNumber </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>serialNumber</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>set stereo camera serial number </p>
+<p>serial number same as robot serial number </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">serialNumber</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if assignment successfully return true, otherwise return false </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">setSerialNumber</a>(2);</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a4e5146c1d33ab5f4f9a3995b93e3cbc5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4e5146c1d33ab5f4f9a3995b93e3cbc5">&#9670;&nbsp;</a></span>startCapture()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::startCapture </td>
+          <td>(</td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>udpFlag</em> = <code>false</code>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">bool&#160;</td>
+          <td class="paramname"><em>shmFlag</em> = <code>false</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>start stereo camera capture thread </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">udpFlag</td><td>default false, true: enable using H264 encode camera frame and send it by gstream udp command </td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">shmFlag</td><td>default false, true: enable using share memory to share camera frame </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if create capture thread successfully return true, otherwise return false </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>gstreamer send command: "appsrc ! videoconvert ! omxh264enc ! video/x-h264, stream-format=byte-stream ! rtph264pay ! udpsink host=192.168.123.SEG port=hostPort". SEG is last segment of your recieve board IP, its range from 2~254,for example: 13, host=192.168.123.13. hostPort is defined by the result of adding camera position number and 9000, for example: camera positon number is 5, port=9005. share memory key number is defined by the result of adding camera position number and 9000. This function must be called after camera config or settings finished. <div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>(<span class="keyword">true</span>, <span class="keyword">false</span>); <span class="comment">// support h264 encode frame and send it by udp</span></div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="abb6da9140cb988beb753514e7416032b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb6da9140cb988beb753514e7416032b">&#9670;&nbsp;</a></span>startStereoCompute()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::startStereoCompute </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>start stereo camera computing disparity thread </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if create thread successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>This function must be called after <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5" title="start stereo camera capture thread ">startCapture()</a>; </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>();</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a>();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a8c9f54bf349fd4dc5a8ba9fd26f22c31"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8c9f54bf349fd4dc5a8ba9fd26f22c31">&#9670;&nbsp;</a></span>stopCapture()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::stopCapture </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop stereo camera capture thread </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if stop thread successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>This function must be called after <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5" title="start stereo camera capture thread ">startCapture()</a>. </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>();</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a>();</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a>();</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">stopCapture</a>();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a3597295e386dfe27474ff0e9567e6d6c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3597295e386dfe27474ff0e9567e6d6c">&#9670;&nbsp;</a></span>stopStereoCompute()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool StereoCamera::stopStereoCompute </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop stereo camera computing disparity thread </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true or false, if stop thread successfully return true, otherwise return false </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>This function must be called after <a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b" title="start stereo camera computing disparity thread ">startStereoCompute()</a> </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line">cam.<a class="code" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a>();</div><div class="line">cam.<a class="code" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a>();</div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/<a class="el" href="_stereo_camera_common_8hpp_source.html">StereoCameraCommon.hpp</a></li>
+<li>src/<a class="el" href="_stereo_camera_common_8cc.html">StereoCameraCommon.cc</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
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+<title>UnitreeCameraSDK: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
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+<script type="text/javascript" src="menu.js"></script>
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+});
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+<div id="main-nav"></div>
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+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
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+        name="MSearchResults" id="MSearchResults">
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+<div class="header">
+  <div class="headertitle">
+<div class="title">SystemLog Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_system_log.html">SystemLog</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_system_log.html#ae1cbe2de51efe22068e2e047396a72dd">debugTimeError</a>(const char *format,...)</td><td class="entry"><a class="el" href="class_system_log.html">SystemLog</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="class_system_log.html#a9714a265975472433882962b7449bd45">saveLog</a>(void)</td><td class="entry"><a class="el" href="class_system_log.html">SystemLog</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="class_system_log.html#a21296bb67489848bad6cfa04280fec85">setLogLevel</a>(int level)</td><td class="entry"><a class="el" href="class_system_log.html">SystemLog</a></td><td class="entry"></td></tr>
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+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: SystemLog Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+</head>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</script>
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+<script type="text/javascript" src="menu.js"></script>
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+<div id="main-nav"></div>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_system_log-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">SystemLog Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
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+<tr class="separator:aad41c68c3a8192ddb646170349023c99"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a21296bb67489848bad6cfa04280fec85"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac33b9f16ae96885ff7170d209a6af506"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ac9b085c959e3f97d547c997c2fca2613"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a69d19a4affe470db2b740a1e9a78e6e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a08dff4b478ed29a39d584d3b7f21ddfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad79238fdcc9a301093d6fa32884d1ae1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#ad79238fdcc9a301093d6fa32884d1ae1">debugTimeInfo</a> (const char *format,...)</td></tr>
+<tr class="memdesc:ad79238fdcc9a301093d6fa32884d1ae1"><td class="mdescLeft">&#160;</td><td class="mdescRight">output debug infomation, color: white  <a href="#ad79238fdcc9a301093d6fa32884d1ae1">More...</a><br /></td></tr>
+<tr class="separator:ad79238fdcc9a301093d6fa32884d1ae1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1cbe2de51efe22068e2e047396a72dd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#ae1cbe2de51efe22068e2e047396a72dd">debugTimeError</a> (const char *format,...)</td></tr>
+<tr class="memdesc:ae1cbe2de51efe22068e2e047396a72dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">output debug error infomation, color: magenta  <a href="#ae1cbe2de51efe22068e2e047396a72dd">More...</a><br /></td></tr>
+<tr class="separator:ae1cbe2de51efe22068e2e047396a72dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9714a265975472433882962b7449bd45"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#a9714a265975472433882962b7449bd45">saveLog</a> (void)</td></tr>
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+<tr class="separator:a9714a265975472433882962b7449bd45"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af41d346f86242f5be187fe2be354347d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_system_log.html#af41d346f86242f5be187fe2be354347d">saveLogToFile</a> (std::string fileName)</td></tr>
+<tr class="memdesc:af41d346f86242f5be187fe2be354347d"><td class="mdescLeft">&#160;</td><td class="mdescRight">save system log to a designated file  <a href="#af41d346f86242f5be187fe2be354347d">More...</a><br /></td></tr>
+<tr class="separator:af41d346f86242f5be187fe2be354347d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aad41c68c3a8192ddb646170349023c99"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aad41c68c3a8192ddb646170349023c99">&#9670;&nbsp;</a></span>SystemLog()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::SystemLog </td>
+          <td>(</td>
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+          <td class="paramname"><em>logName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_system_log.html">SystemLog</a> constructor. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">logName</td><td>the name of special system </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>output information starts with "logName" <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae1cbe2de51efe22068e2e047396a72dd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1cbe2de51efe22068e2e047396a72dd">&#9670;&nbsp;</a></span>debugTimeError()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::debugTimeError </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>format</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>...</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>output debug error infomation, color: magenta </p>
+<p>output format [logName][DEBUG_ERROR] info </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ad79238fdcc9a301093d6fa32884d1ae1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad79238fdcc9a301093d6fa32884d1ae1">&#9670;&nbsp;</a></span>debugTimeInfo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::debugTimeInfo </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>format</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>...</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>output debug infomation, color: white </p>
+<p>output format [logName][DEBUG_INFO] info </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a08dff4b478ed29a39d584d3b7f21ddfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a08dff4b478ed29a39d584d3b7f21ddfb">&#9670;&nbsp;</a></span>debugTimeWarning()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::debugTimeWarning </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>format</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>...</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>output debug warning infomation, color: cyan </p>
+<p>output format [logName][DEBUG_WARNING] info </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ac33b9f16ae96885ff7170d209a6af506"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac33b9f16ae96885ff7170d209a6af506">&#9670;&nbsp;</a></span>runTimeError()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::runTimeError </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>format</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>...</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>output running error infomation, color: red </p>
+<p>output format [logName][ERROR] info </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ac9b085c959e3f97d547c997c2fca2613"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac9b085c959e3f97d547c997c2fca2613">&#9670;&nbsp;</a></span>runTimeInfo()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::runTimeInfo </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>format</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>...</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>output running infomation, color: green </p>
+<p>output format [logName][INFO] info </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a69d19a4affe470db2b740a1e9a78e6e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a69d19a4affe470db2b740a1e9a78e6e5">&#9670;&nbsp;</a></span>runTimeWarning()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::runTimeWarning </td>
+          <td>(</td>
+          <td class="paramtype">const char *&#160;</td>
+          <td class="paramname"><em>format</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>...</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>output running warning infomation, color: yellow </p>
+<p>output format [logName][WARNING] info </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">format</td><td></td></tr>
+    <tr><td class="paramdir">[in]</td><td class="paramname">...</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>use it like printf() <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a9714a265975472433882962b7449bd45"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9714a265975472433882962b7449bd45">&#9670;&nbsp;</a></span>saveLog()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::saveLog </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>save system log to a file, default file name: Running.txt </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">none</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>not implement at this version <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="af41d346f86242f5be187fe2be354347d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af41d346f86242f5be187fe2be354347d">&#9670;&nbsp;</a></span>saveLogToFile()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::saveLogToFile </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>fileName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>save system log to a designated file </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>not implement at this version <div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="a21296bb67489848bad6cfa04280fec85"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a21296bb67489848bad6cfa04280fec85">&#9670;&nbsp;</a></span>setLogLevel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">SystemLog::setLogLevel </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>level</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>set system ouput log level </p>
+<p>log level means that different kind of information will be output </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">level</td><td>1 running information output, 2 running and debug infomation output </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd></dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd><div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>include/<a class="el" href="_system_log_8hpp_source.html">SystemLog.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera-members.html b/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera-members.html
new file mode 100644
index 0000000..2f248a0
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera-members.html
@@ -0,0 +1,119 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">UnitreeCamera Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="class_unitree_camera.html">UnitreeCamera</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="class_unitree_camera.html#a45e182540ab4bb59b68fb07c23bdd91f">checkFirmwareVersion</a>(std::string &amp;version)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">getCalibParams</a>(std::vector&lt; cv::Mat &gt; &amp;paramsArray, bool flag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">getDepthFrame</a>(cv::Mat &amp;depth, bool color, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">getDeviceNode</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">getLogLevel</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getPointCloud</b>(std::vector&lt; cv::Vec3f &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getPointCloud</b>(std::vector&lt; PCLType &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">getPosNumber</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">getRawFrame</a>(cv::Mat &amp;frame, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">getRawFrameRate</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">getRawFrameSize</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>getRectStereoFrame</b>(cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>getRectStereoFrame</b>(cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim, std::chrono::microseconds &amp;timeStamp) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">getSerialNumber</a>(void) const</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">getStereoFrame</a>(cv::Mat &amp;left, cv::Mat &amp;right, std::chrono::microseconds &amp;timeStamp)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">isOpened</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">loadCalibParams</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">saveCalibParams</a>(std::string fileName=&quot;stereo_camera_calibparams.yaml&quot;)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a>(std::string fileName=&quot;stereo_camera_config.yaml&quot;)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">setCalibParams</a>(std::vector&lt; cv::Mat &gt; paramsArray, bool flag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">setLogLevel</a>(int level)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">setPosNumber</a>(int posNumber)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">setRawFrameRate</a>(int frameRate)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a>(cv::Size frameSize)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">setRectFrameSize</a>(cv::Size frameSize)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">setSerialNumber</a>(int serialNumber)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a>(bool udpFlag=false, bool shmFlag=false)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>StereoCamera</b>(std::string fileName) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>StereoCamera</b>(int deviceNode) (defined in <a class="el" href="class_stereo_camera.html">StereoCamera</a>)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">stopCapture</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a>(void)</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a>()</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>UnitreeCamera</b>(std::string fileName) (defined in <a class="el" href="class_unitree_camera.html">UnitreeCamera</a>)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>UnitreeCamera</b>(int deviceNode) (defined in <a class="el" href="class_unitree_camera.html">UnitreeCamera</a>)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_unitree_camera.html#ab056c2e429ec5d91b7e838c18cbd0d73">updateCalibParams2Flash</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_unitree_camera.html#abd0fd0e03ac98f90905ea582e4f397a7">updateFirmware</a>(std::string fileName)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
+  <tr><td class="entry"><a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">~StereoCamera</a>()</td><td class="entry"><a class="el" href="class_stereo_camera.html">StereoCamera</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="class_unitree_camera.html#aefb112b0fa677221163ddd18ccf08d8c">~UnitreeCamera</a>(void)</td><td class="entry"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera.html b/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera.html
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+<title>UnitreeCameraSDK: UnitreeCamera Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.8.13 -->
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="class_unitree_camera-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">UnitreeCamera Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for UnitreeCamera:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_unitree_camera__inherit__graph.png" border="0" usemap="#_unitree_camera_inherit__map" alt="Inheritance graph"/></div>
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for UnitreeCamera:</div>
+<div class="dyncontent">
+<div class="center"><img src="class_unitree_camera__coll__graph.png" border="0" usemap="#_unitree_camera_coll__map" alt="Collaboration graph"/></div>
+<map name="_unitree_camera_coll__map" id="_unitree_camera_coll__map">
+<area shape="rect" id="node2" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm " alt="" coords="7,5,114,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:af8a5e0c70f99096ecd378680d2f1ec27"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a> ()</td></tr>
+<tr class="memdesc:af8a5e0c70f99096ecd378680d2f1ec27"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> init unitree stereo camera object for default parameters.  <a href="#af8a5e0c70f99096ecd378680d2f1ec27">More...</a><br /></td></tr>
+<tr class="separator:af8a5e0c70f99096ecd378680d2f1ec27"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe458a0b083d37d8212ddfcbe62cb033"><td class="memItemLeft" align="right" valign="top"><a id="afe458a0b083d37d8212ddfcbe62cb033"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>UnitreeCamera</b> (std::string fileName)</td></tr>
+<tr class="separator:afe458a0b083d37d8212ddfcbe62cb033"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d447525ea7fbcba9b9f892387fc91ee"><td class="memItemLeft" align="right" valign="top"><a id="a0d447525ea7fbcba9b9f892387fc91ee"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>UnitreeCamera</b> (int deviceNode)</td></tr>
+<tr class="separator:a0d447525ea7fbcba9b9f892387fc91ee"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aefb112b0fa677221163ddd18ccf08d8c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#aefb112b0fa677221163ddd18ccf08d8c">~UnitreeCamera</a> (void)</td></tr>
+<tr class="memdesc:aefb112b0fa677221163ddd18ccf08d8c"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> destructor.  <a href="#aefb112b0fa677221163ddd18ccf08d8c">More...</a><br /></td></tr>
+<tr class="separator:aefb112b0fa677221163ddd18ccf08d8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab056c2e429ec5d91b7e838c18cbd0d73"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#ab056c2e429ec5d91b7e838c18cbd0d73">updateCalibParams2Flash</a> (std::string fileName)</td></tr>
+<tr class="memdesc:ab056c2e429ec5d91b7e838c18cbd0d73"><td class="mdescLeft">&#160;</td><td class="mdescRight">update camera calibrate parameters  <a href="#ab056c2e429ec5d91b7e838c18cbd0d73">More...</a><br /></td></tr>
+<tr class="separator:ab056c2e429ec5d91b7e838c18cbd0d73"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a45e182540ab4bb59b68fb07c23bdd91f"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#a45e182540ab4bb59b68fb07c23bdd91f">checkFirmwareVersion</a> (std::string &amp;version)</td></tr>
+<tr class="memdesc:a45e182540ab4bb59b68fb07c23bdd91f"><td class="mdescLeft">&#160;</td><td class="mdescRight">check camera's firmware version  <a href="#a45e182540ab4bb59b68fb07c23bdd91f">More...</a><br /></td></tr>
+<tr class="separator:a45e182540ab4bb59b68fb07c23bdd91f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abd0fd0e03ac98f90905ea582e4f397a7"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_unitree_camera.html#abd0fd0e03ac98f90905ea582e4f397a7">updateFirmware</a> (std::string fileName)</td></tr>
+<tr class="memdesc:abd0fd0e03ac98f90905ea582e4f397a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">update camera's firmware  <a href="#abd0fd0e03ac98f90905ea582e4f397a7">More...</a><br /></td></tr>
+<tr class="separator:abd0fd0e03ac98f90905ea582e4f397a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_class_stereo_camera"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_stereo_camera')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_stereo_camera.html">StereoCamera</a></td></tr>
+<tr class="memitem:a6d9ac42b50dc07f5f846336ffd29e752 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a> (void)</td></tr>
+<tr class="memdesc:a6d9ac42b50dc07f5f846336ffd29e752 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a>.  <a href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">More...</a><br /></td></tr>
+<tr class="separator:a6d9ac42b50dc07f5f846336ffd29e752 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad5caa5f91c77562d8b6183ef153a943c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="ad5caa5f91c77562d8b6183ef153a943c"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>StereoCamera</b> (std::string fileName)</td></tr>
+<tr class="separator:ad5caa5f91c77562d8b6183ef153a943c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6e0d6591990e7f8d175d67e9609c8a4c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="a6e0d6591990e7f8d175d67e9609c8a4c"></a>
+&#160;</td><td class="memItemRight" valign="bottom"><b>StereoCamera</b> (int deviceNode)</td></tr>
+<tr class="separator:a6e0d6591990e7f8d175d67e9609c8a4c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2b36ce592e0e2bf0850d37681c51ae60 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">~StereoCamera</a> ()</td></tr>
+<tr class="memdesc:a2b36ce592e0e2bf0850d37681c51ae60 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_stereo_camera.html" title="this class integrate camera control and stereo vision algorithm ">StereoCamera</a> destructor.  <a href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">More...</a><br /></td></tr>
+<tr class="separator:a2b36ce592e0e2bf0850d37681c51ae60 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a47c0d9ee727f13af5d348db9f217a44b inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">isOpened</a> (void)</td></tr>
+<tr class="memdesc:a47c0d9ee727f13af5d348db9f217a44b inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera running status  <a href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">More...</a><br /></td></tr>
+<tr class="separator:a47c0d9ee727f13af5d348db9f217a44b inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adb684170c2180eb2109f9eecd1723c1c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">setLogLevel</a> (int level)</td></tr>
+<tr class="memdesc:adb684170c2180eb2109f9eecd1723c1c inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera ouput log level  <a href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">More...</a><br /></td></tr>
+<tr class="separator:adb684170c2180eb2109f9eecd1723c1c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad570580bd5b16ac58831d57ffd23ce5b inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">setPosNumber</a> (int posNumber)</td></tr>
+<tr class="memdesc:ad570580bd5b16ac58831d57ffd23ce5b inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera position number  <a href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">More...</a><br /></td></tr>
+<tr class="separator:ad570580bd5b16ac58831d57ffd23ce5b inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a110ad0dc21cea5bfa5607752fc858163 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">setSerialNumber</a> (int serialNumber)</td></tr>
+<tr class="memdesc:a110ad0dc21cea5bfa5607752fc858163 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera serial number  <a href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">More...</a><br /></td></tr>
+<tr class="separator:a110ad0dc21cea5bfa5607752fc858163 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa28635e45b1d0ade5353a69e2a7175e4 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">setRawFrameRate</a> (int frameRate)</td></tr>
+<tr class="memdesc:aa28635e45b1d0ade5353a69e2a7175e4 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera FPS (Frames Per Seconds)  <a href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">More...</a><br /></td></tr>
+<tr class="separator:aa28635e45b1d0ade5353a69e2a7175e4 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adb1ed69d226251cd050b1deab0270af8 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">setRawFrameSize</a> (cv::Size frameSize)</td></tr>
+<tr class="memdesc:adb1ed69d226251cd050b1deab0270af8 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera frame size  <a href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">More...</a><br /></td></tr>
+<tr class="separator:adb1ed69d226251cd050b1deab0270af8 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac2d8d3a96e0ac426af20a3e88df0167a inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">setRectFrameSize</a> (cv::Size frameSize)</td></tr>
+<tr class="memdesc:ac2d8d3a96e0ac426af20a3e88df0167a inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set rectification image size  <a href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">More...</a><br /></td></tr>
+<tr class="separator:ac2d8d3a96e0ac426af20a3e88df0167a inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a98d7546631507bcede3c9a850e69db7a inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">setCalibParams</a> (std::vector&lt; cv::Mat &gt; paramsArray, bool flag=false)</td></tr>
+<tr class="memdesc:a98d7546631507bcede3c9a850e69db7a inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">set stereo camera calibration parameters  <a href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">More...</a><br /></td></tr>
+<tr class="separator:a98d7546631507bcede3c9a850e69db7a inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a105495e27d95f3f905ef1de0f9866c70 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">getLogLevel</a> (void) const</td></tr>
+<tr class="memdesc:a105495e27d95f3f905ef1de0f9866c70 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get log system output level  <a href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">More...</a><br /></td></tr>
+<tr class="separator:a105495e27d95f3f905ef1de0f9866c70 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a34d50c8166cf8f3f76fff5789f8f1eee inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">getDeviceNode</a> (void) const</td></tr>
+<tr class="memdesc:a34d50c8166cf8f3f76fff5789f8f1eee inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get camera device node  <a href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">More...</a><br /></td></tr>
+<tr class="separator:a34d50c8166cf8f3f76fff5789f8f1eee inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab844029084a9a9de0996c1e7b24c258c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">getPosNumber</a> (void) const</td></tr>
+<tr class="memdesc:ab844029084a9a9de0996c1e7b24c258c inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera device node  <a href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">More...</a><br /></td></tr>
+<tr class="separator:ab844029084a9a9de0996c1e7b24c258c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3cb43015d545854892dd2e4057f5b2be inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">getSerialNumber</a> (void) const</td></tr>
+<tr class="memdesc:a3cb43015d545854892dd2e4057f5b2be inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera serial number  <a href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">More...</a><br /></td></tr>
+<tr class="separator:a3cb43015d545854892dd2e4057f5b2be inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac92c3a60ae0c38e203c81bb2a2738eb4 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">getRawFrameRate</a> (void) const</td></tr>
+<tr class="memdesc:ac92c3a60ae0c38e203c81bb2a2738eb4 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera capture frame rate  <a href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">More...</a><br /></td></tr>
+<tr class="separator:ac92c3a60ae0c38e203c81bb2a2738eb4 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38c990b26167c2f7823b20f44b1a8fa7 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual cv::Size&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">getRawFrameSize</a> (void) const</td></tr>
+<tr class="memdesc:a38c990b26167c2f7823b20f44b1a8fa7 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera frame size  <a href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">More...</a><br /></td></tr>
+<tr class="separator:a38c990b26167c2f7823b20f44b1a8fa7 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac8fbb6e1ebd828b1640d43ad7cdc0f9c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">getRawFrame</a> (cv::Mat &amp;frame, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="memdesc:ac8fbb6e1ebd828b1640d43ad7cdc0f9c inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera raw frame  <a href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">More...</a><br /></td></tr>
+<tr class="separator:ac8fbb6e1ebd828b1640d43ad7cdc0f9c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa25f48d95ba8d1c71fb0e40b53f68379 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">getStereoFrame</a> (cv::Mat &amp;left, cv::Mat &amp;right, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="memdesc:aa25f48d95ba8d1c71fb0e40b53f68379 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera left and right image  <a href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">More...</a><br /></td></tr>
+<tr class="separator:aa25f48d95ba8d1c71fb0e40b53f68379 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa0bd7e3a7ab4fcf2598ac4e780a27cb3 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">getDepthFrame</a> (cv::Mat &amp;depth, bool color, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="memdesc:aa0bd7e3a7ab4fcf2598ac4e780a27cb3 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera depth image  <a href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">More...</a><br /></td></tr>
+<tr class="separator:aa0bd7e3a7ab4fcf2598ac4e780a27cb3 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed61a02ac44c99be0aa62afea2ad9ed8 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="aed61a02ac44c99be0aa62afea2ad9ed8"></a>
+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getPointCloud</b> (std::vector&lt; cv::Vec3f &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="separator:aed61a02ac44c99be0aa62afea2ad9ed8 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac571ca8f4dc4783052bdab22f68a1ac1 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="ac571ca8f4dc4783052bdab22f68a1ac1"></a>
+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getPointCloud</b> (std::vector&lt; <a class="el" href="struct_p_c_l.html">PCLType</a> &gt; &amp;pcl, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="separator:ac571ca8f4dc4783052bdab22f68a1ac1 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a61ea11e661cca31acb780edbbba1d32e inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">getCalibParams</a> (std::vector&lt; cv::Mat &gt; &amp;paramsArray, bool flag=false)</td></tr>
+<tr class="memdesc:a61ea11e661cca31acb780edbbba1d32e inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">get stereo camera calibration paramerters  <a href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">More...</a><br /></td></tr>
+<tr class="separator:a61ea11e661cca31acb780edbbba1d32e inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6a2a8d258ad08a80ab02932d5248850e inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="a6a2a8d258ad08a80ab02932d5248850e"></a>
+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getRectStereoFrame</b> (cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim)</td></tr>
+<tr class="separator:a6a2a8d258ad08a80ab02932d5248850e inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a2730d460983ce6af37a4cf13025b4ed8 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top"><a id="a2730d460983ce6af37a4cf13025b4ed8"></a>
+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>getRectStereoFrame</b> (cv::Mat &amp;left, cv::Mat &amp;right, cv::Mat &amp;feim, std::chrono::microseconds &amp;timeStamp)</td></tr>
+<tr class="separator:a2730d460983ce6af37a4cf13025b4ed8 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe25245d518e12c6f0a685d7da7a2979 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">loadConfig</a> (std::string fileName)</td></tr>
+<tr class="memdesc:afe25245d518e12c6f0a685d7da7a2979 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">load stereo camera config parameters  <a href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">More...</a><br /></td></tr>
+<tr class="separator:afe25245d518e12c6f0a685d7da7a2979 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afb896942fb7fe1ea33c80ec9dcefa6a0 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">loadCalibParams</a> (std::string fileName)</td></tr>
+<tr class="memdesc:afb896942fb7fe1ea33c80ec9dcefa6a0 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">load stereo camera calibration params  <a href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">More...</a><br /></td></tr>
+<tr class="separator:afb896942fb7fe1ea33c80ec9dcefa6a0 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a568930e8b3668361fedad5233ab5ba47 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">saveConfig</a> (std::string fileName=&quot;stereo_camera_config.yaml&quot;)</td></tr>
+<tr class="memdesc:a568930e8b3668361fedad5233ab5ba47 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">save stereo camera settings to config file  <a href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">More...</a><br /></td></tr>
+<tr class="separator:a568930e8b3668361fedad5233ab5ba47 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7611e0d97d57abf36b4fa7dca2a3cfc5 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">saveCalibParams</a> (std::string fileName=&quot;stereo_camera_calibparams.yaml&quot;)</td></tr>
+<tr class="memdesc:a7611e0d97d57abf36b4fa7dca2a3cfc5 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">save stereo camera calibration parameters to file  <a href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">More...</a><br /></td></tr>
+<tr class="separator:a7611e0d97d57abf36b4fa7dca2a3cfc5 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4e5146c1d33ab5f4f9a3995b93e3cbc5 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">startCapture</a> (bool udpFlag=false, bool shmFlag=false)</td></tr>
+<tr class="memdesc:a4e5146c1d33ab5f4f9a3995b93e3cbc5 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">start stereo camera capture thread  <a href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">More...</a><br /></td></tr>
+<tr class="separator:a4e5146c1d33ab5f4f9a3995b93e3cbc5 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb6da9140cb988beb753514e7416032b inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">startStereoCompute</a> (void)</td></tr>
+<tr class="memdesc:abb6da9140cb988beb753514e7416032b inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">start stereo camera computing disparity thread  <a href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">More...</a><br /></td></tr>
+<tr class="separator:abb6da9140cb988beb753514e7416032b inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3597295e386dfe27474ff0e9567e6d6c inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">stopStereoCompute</a> (void)</td></tr>
+<tr class="memdesc:a3597295e386dfe27474ff0e9567e6d6c inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop stereo camera computing disparity thread  <a href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">More...</a><br /></td></tr>
+<tr class="separator:a3597295e386dfe27474ff0e9567e6d6c inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8c9f54bf349fd4dc5a8ba9fd26f22c31 inherit pub_methods_class_stereo_camera"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">stopCapture</a> (void)</td></tr>
+<tr class="memdesc:a8c9f54bf349fd4dc5a8ba9fd26f22c31 inherit pub_methods_class_stereo_camera"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop stereo camera capture thread  <a href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">More...</a><br /></td></tr>
+<tr class="separator:a8c9f54bf349fd4dc5a8ba9fd26f22c31 inherit pub_methods_class_stereo_camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af8a5e0c70f99096ecd378680d2f1ec27"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af8a5e0c70f99096ecd378680d2f1ec27">&#9670;&nbsp;</a></span>UnitreeCamera()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">UnitreeCamera::UnitreeCamera </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> init unitree stereo camera object for default parameters. </p>
+<p><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> constructor overload.</p>
+<p>default constructor </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line"><a class="code" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a>();</div></div><!-- fragment --></dd></dl>
+<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.</p>
+<p>use camera config file to init unitree stereo camera </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>camera config file, include file path, for example: ~/test/stereoConfig.yaml </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line"><a class="code" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a>(<span class="stringliteral">&quot;path_to/config.yaml&quot;</span>);</div></div><!-- fragment --></dd></dl>
+<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.</p>
+<p>use camera device node number to init unitree stereo camera </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">deviceNode</td><td>camera device node, for example: /dev/video0, camera device node: 0 </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"><div class="line"><a class="code" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>(0); <span class="comment">// for /dev/video0</span></div></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="aefb112b0fa677221163ddd18ccf08d8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aefb112b0fa677221163ddd18ccf08d8c">&#9670;&nbsp;</a></span>~UnitreeCamera()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">UnitreeCamera::~UnitreeCamera </td>
+          <td>(</td>
+          <td class="paramtype">void&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p><a class="el" href="class_unitree_camera.html">UnitreeCamera</a> destructor. </p>
+<p>release all unitree stereo camera resource </p><dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">None</td><td></td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd>automatically called when <a class="el" href="class_unitree_camera.html">UnitreeCamera</a> object released </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a45e182540ab4bb59b68fb07c23bdd91f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45e182540ab4bb59b68fb07c23bdd91f">&#9670;&nbsp;</a></span>checkFirmwareVersion()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool UnitreeCamera::checkFirmwareVersion </td>
+          <td>(</td>
+          <td class="paramtype">std::string &amp;&#160;</td>
+          <td class="paramname"><em>version</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>check camera's firmware version </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">version</td><td>firmware version </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="ab056c2e429ec5d91b7e838c18cbd0d73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab056c2e429ec5d91b7e838c18cbd0d73">&#9670;&nbsp;</a></span>updateCalibParams2Flash()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool UnitreeCamera::updateCalibParams2Flash </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>fileName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>update camera calibrate parameters </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>calibration parameters file </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<a id="abd0fd0e03ac98f90905ea582e4f397a7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abd0fd0e03ac98f90905ea582e4f397a7">&#9670;&nbsp;</a></span>updateFirmware()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool UnitreeCamera::updateFirmware </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>fileName</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>update camera's firmware </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramdir">[in]</td><td class="paramname">fileName</td><td>firmware file </td></tr>
+    <tr><td class="paramdir">[out]</td><td class="paramname">None</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>None </dd></dl>
+<dl class="section note"><dt>Note</dt><dd><div class="fragment"></div><!-- fragment --> </dd></dl>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>include/<a class="el" href="_unitree_camera_s_d_k_8hpp_source.html">UnitreeCameraSDK.hpp</a></li>
+<li>src/UnitreeCameraSDK.cc</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera__coll__graph.map b/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera__coll__graph.map
new file mode 100644
index 0000000..f54cd1e
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera__coll__graph.md5 b/src/Robot/UnitreecameraSDK/doc/html/class_unitree_camera__coll__graph.md5
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+</td><td valign="top"><a class="el" href="class_stereo_camera.html">StereoCamera</a>&#160;&#160;&#160;</td></tr>
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+<tr><td valign="top"><a class="el" href="classglwindow_1_1_event_dispatcher.html">EventDispatcher</a> (glwindow)&#160;&#160;&#160;</td><td></td></tr>
+<tr><td></td><td valign="top"><a class="el" href="classinfo__camera__os.html">info_camera_os</a>&#160;&#160;&#160;</td><td valign="top"><a class="el" href="classglwindow_1_1_scene_window.html">SceneWindow</a> (glwindow)&#160;&#160;&#160;</td><td valign="top"><a class="el" href="class_unitree_camera.html">UnitreeCamera</a>&#160;&#160;&#160;</td><td></td></tr>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_event_dispatcher-members.html b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_event_dispatcher-members.html
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">glwindow::EventDispatcher Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>EventDispatcher</b>(const std::vector&lt; EventHandler *&gt; &amp;h) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>handlers</b> (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_button_down</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_button_up</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_close</b>(GLWindow &amp;win) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_key_down</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_key_up</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_mouse_move</b>(GLWindow &amp;win, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_mouse_wheel</b>(GLWindow &amp;win, int state, int x, int y, int dx, int dy) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_resize</b>(GLWindow &amp;win, int x, int y, int w, int h) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_text</b>(GLWindow &amp;win, const char *text, int len) (defined in <a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~EventHandler</b>() (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_event_dispatcher.html b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_event_dispatcher.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml">
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+   <div id="projectbrief">unitree stereo camra apis</div>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>glwindow</b></li><li class="navelem"><a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">glwindow::GLWindow Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>, including all inherited members.</p>
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>all_windows</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>destroy</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>draw_text</b>(double x, double y, const char *text, int xywh[4]=0) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>GLWindow</b>(int w=-1, int h=-1, const char *title=0) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>handle_all_events</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>handle_events</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>handlers</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>height</b>() const (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>make_current</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>pop_context</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>prev_active</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>push_context</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>remove_handler</b>(EventHandler *handler) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>remove_window</b>(GLWindow *win) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">static</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_position</b>(int x, int y) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>set_size</b>(int w, int h) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>set_title</b>(const char *title) (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>swap_buffers</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>sys_state</b> (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>width</b>() const (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~GLWindow</b>() (defined in <a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_g_l_window.html b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_g_l_window.html
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+</table>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>examples/glViewer/<a class="el" href="glwindow_8hpp_source.html">glwindow.hpp</a></li>
+<li>examples/glViewer/glwindow_x11.cpp</li>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_g_l_window__coll__graph.map b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_g_l_window__coll__graph.map
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_g_l_window__coll__graph.md5 b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_g_l_window__coll__graph.md5
new file mode 100644
index 0000000..ec0bc24
--- /dev/null
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window-members.html b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window-members.html
new file mode 100644
index 0000000..cc5e1c4
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window-members.html
@@ -0,0 +1,107 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>glwindow</b></li><li class="navelem"><a class="el" href="classglwindow_1_1_scene_window.html">SceneWindow</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">glwindow::SceneWindow Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>drag_btn</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>dragging</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>drawing</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>finish_draw</b>() (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>inv_h0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>inv_w0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_button_down</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_button_up</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_close</b>(GLWindow &amp;win) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_key_down</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_key_up</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_mouse_move</b>(GLWindow &amp;win, int state, int x, int y) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_mouse_wheel</b>(GLWindow &amp;win, int state, int x, int y, int dx, int dy) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_resize</b>(GLWindow &amp;win, int x, int y, int w, int h) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_text</b>(GLWindow &amp;win, const char *text, int len) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>SceneWindow</b>(int width, int height, const char *title) (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>start_draw</b>() (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>update</b>() (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>viewpoint</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>vp0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>win</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>x0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>y0</b> (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~EventHandler</b>() (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~SceneWindow</b>() (defined in <a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a>)</td><td class="entry"><a class="el" href="classglwindow_1_1_scene_window.html">glwindow::SceneWindow</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window.html b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window.html
new file mode 100644
index 0000000..27fc883
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window.html
@@ -0,0 +1,197 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: glwindow::SceneWindow Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><b>glwindow</b></li><li class="navelem"><a class="el" href="classglwindow_1_1_scene_window.html">SceneWindow</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classglwindow_1_1_scene_window-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">glwindow::SceneWindow Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for glwindow::SceneWindow:</div>
+<div class="dyncontent">
+<div class="center"><img src="classglwindow_1_1_scene_window__inherit__graph.png" border="0" usemap="#glwindow_1_1_scene_window_inherit__map" alt="Inheritance graph"/></div>
+<map name="glwindow_1_1_scene_window_inherit__map" id="glwindow_1_1_scene_window_inherit__map">
+<area shape="rect" id="node2" href="structglwindow_1_1_event_handler.html" title="glwindow::EventHandler" alt="" coords="8,5,171,32"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for glwindow::SceneWindow:</div>
+<div class="dyncontent">
+<div class="center"><img src="classglwindow_1_1_scene_window__coll__graph.png" border="0" usemap="#glwindow_1_1_scene_window_coll__map" alt="Collaboration graph"/></div>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window__inherit__graph.map b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window__inherit__graph.map
new file mode 100644
index 0000000..46aca0e
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window__inherit__graph.map
@@ -0,0 +1,3 @@
+<map id="glwindow::SceneWindow" name="glwindow::SceneWindow">
+<area shape="rect" id="node2" href="$structglwindow_1_1_event_handler.html" title="glwindow::EventHandler" alt="" coords="8,5,171,32"/>
+</map>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window__inherit__graph.md5 b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window__inherit__graph.md5
new file mode 100644
index 0000000..e6ad224
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/classglwindow_1_1_scene_window__inherit__graph.md5
@@ -0,0 +1 @@
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+   <div id="projectname">UnitreeCameraSDK
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+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+</table>
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+<p>This is the complete list of members for <a class="el" href="classinfo__camera___string.html">info_camera_String</a>, including all inherited members.</p>
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+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.8.13 -->
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classinfo__camera___string-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">info_camera_String Class Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
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+char&#160;</td><td class="memItemRight" valign="bottom"><b>iSerialNumber</b> [MAX_PATH]</td></tr>
+<tr class="separator:aa36e331d9d8aa31382774bdd0a22f23e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>src/<a class="el" href="camera__api_8h_source.html">camera_api.h</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+	background-image: -moz-linear-gradient(center top, #eee 0%, #444 40%, #000 110%);
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	background-color: white;
+	color: black;
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+td.indexkey {
+	background-color: #EBEFF6;
+	font-weight: bold;
+	border: 1px solid #C4CFE5;
+	margin: 2px 0px 2px 0;
+	padding: 2px 10px;
+        white-space: nowrap;
+        vertical-align: top;
+}
+
+td.indexvalue {
+	background-color: #EBEFF6;
+	border: 1px solid #C4CFE5;
+	padding: 2px 10px;
+	margin: 2px 0px;
+}
+
+tr.memlist {
+	background-color: #EEF1F7;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.formulaDsp {
+	
+}
+
+img.formulaInl {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: #008000
+}
+
+span.keywordtype {
+	color: #604020
+}
+
+span.keywordflow {
+	color: #e08000
+}
+
+span.comment {
+	color: #800000
+}
+
+span.preprocessor {
+	color: #806020
+}
+
+span.stringliteral {
+	color: #002080
+}
+
+span.charliteral {
+	color: #008080
+}
+
+span.vhdldigit { 
+	color: #ff00ff 
+}
+
+span.vhdlchar { 
+	color: #000000 
+}
+
+span.vhdlkeyword { 
+	color: #700070 
+}
+
+span.vhdllogic { 
+	color: #ff0000 
+}
+
+blockquote {
+        background-color: #F7F8FB;
+        border-left: 2px solid #9CAFD4;
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+/*
+.search {
+	color: #003399;
+	font-weight: bold;
+}
+
+form.search {
+	margin-bottom: 0px;
+	margin-top: 0px;
+}
+
+input.search {
+	font-size: 75%;
+	color: #000080;
+	font-weight: normal;
+	background-color: #e8eef2;
+}
+*/
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid #A3B4D7;
+}
+
+th.dirtab {
+	background: #EBEFF6;
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid #4A6AAA;
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: cyan;
+	box-shadow: 0 0 15px cyan;
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: #F9FAFC;
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: #555;
+}
+
+.memSeparator {
+        border-bottom: 1px solid #DEE4F0;
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: #4665A2;
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid #A8B8D9;
+	border-left: 1px solid #A8B8D9;
+	border-right: 1px solid #A8B8D9;
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: url('nav_f.png');
+	background-repeat: repeat-x;
+	background-color: #E2E8F2;
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: #4665A2;
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.memnav {
+	background-color: #EBEFF6;
+	border: 1px solid #A3B4D7;
+	text-align: center;
+	margin: 2px;
+	margin-right: 15px;
+	padding: 2px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px cyan;
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
+        padding: 6px 0px 6px 0px;
+        color: #253555;
+        font-weight: bold;
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        background-color: #DFE5F1;
+        /* opera specific markup */
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+        /* firefox specific markup */
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        -moz-border-radius-topright: 4px;
+        /* webkit specific markup */
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        -webkit-border-top-right-radius: 4px;
+
+}
+
+.overload {
+        font-family: "courier new",courier,monospace;
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid #A8B8D9;      
+        border-left: 1px solid #A8B8D9;      
+        border-right: 1px solid #A8B8D9; 
+        padding: 6px 10px 2px 10px;
+        background-color: #FBFCFD;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: #FFFFFF;
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+}
+
+.paramname {
+	color: #602020;
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}       
+
+.params .paramname, .retval .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+        
+.params .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}       
+        
+.params .paramdir {
+        font-family: "courier new",courier,monospace;
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
+	text-shadow: none;
+	color: white;
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: #F7F8FB;
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: #3D578C;
+}
+
+.arrow {
+    color: #9CAFD4;
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: Arial, Helvetica;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: #728DC1;
+    color: white;
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderopen.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('folderclosed.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:url('doc.png');
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+table.directory {
+    font: 400 14px Roboto,sans-serif;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: #2A3D61;
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        /*width: 100%;*/
+        margin-bottom: 10px;
+        border: 1px solid #A8B8D9;
+        border-spacing: 0px;
+        -moz-border-radius: 4px;
+        -webkit-border-radius: 4px;
+        border-radius: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px;
+        -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid #A8B8D9;
+        /*width: 100%;*/
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}       
+        
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image:url('nav_f.png');
+        background-repeat:repeat-x;
+        background-color: #E2E8F2;
+        font-size: 90%;
+        color: #253555;
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        -moz-border-radius-topleft: 4px;
+        -moz-border-radius-topright: 4px;
+        -webkit-border-top-left-radius: 4px;
+        -webkit-border-top-right-radius: 4px;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid #A8B8D9;
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: url('tab_b.png');
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image:url('tab_b.png');
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:#8AA0CC;
+	border:solid 1px #C2CDE4;
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:url('bc_s.png');
+	background-repeat:no-repeat;
+	background-position:right;
+	color:#364D7C;
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+	text-decoration: none;        
+}
+
+.navpath li.navelem a:hover
+{
+	color:#6884BD;
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color:#364D7C;
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}       
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0; 
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image:url('nav_h.png');
+        background-repeat:repeat-x;
+	background-color: #F9FAFC;
+	margin:  0px;
+	border-bottom: 1px solid #C4CFE5;
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+dl
+{
+        padding: 0 0 0 10px;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug */
+dl.section
+{
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #D0C000;
+}
+
+dl.warning, dl.attention
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #00D000;
+}
+
+dl.deprecated
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #505050;
+}
+
+dl.todo
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #00C0E0;
+}
+
+dl.test
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #3030E0;
+}
+
+dl.bug
+{
+        margin-left:-7px;
+        padding-left: 3px;
+        border-left:4px solid;
+        border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+}
+
+#projectname
+{
+	font: 300% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 2px 0px;
+}
+    
+#projectbrief
+{
+	font: 120% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font: 50% Tahoma, Arial,sans-serif;
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid #5373B4;
+}
+
+.image
+{
+        text-align: center;
+}
+
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+}
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+}
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+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
+/* @group Markdown */
+
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+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
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+}
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+}
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+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+th.markdownTableHeadLeft th.markdownTableHeadRight th.markdownTableHeadCenter th.markdownTableHeadNone {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight {
+	text-align: right
+}
+
+th.markdownTableHeadCenter {
+	text-align: center
+}
+*/
+
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
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+	border: 1px solid #2D4068;
+	padding: 3px 7px 2px;
+}
+
+table.markdownTable tr {
+}
+
+th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
+	background-color: #374F7F;
+	color: #FFFFFF;
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
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+}
+
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+}
+
+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
+	text-align: center
+}
+
+
+/* @end */
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/dynsections.js b/src/Robot/UnitreecameraSDK/doc/html/dynsections.js
new file mode 100644
index 0000000..85e1836
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/dynsections.js
@@ -0,0 +1,97 @@
+function toggleVisibility(linkObj)
+{
+ var base = $(linkObj).attr('id');
+ var summary = $('#'+base+'-summary');
+ var content = $('#'+base+'-content');
+ var trigger = $('#'+base+'-trigger');
+ var src=$(trigger).attr('src');
+ if (content.is(':visible')===true) {
+   content.hide();
+   summary.show();
+   $(linkObj).addClass('closed').removeClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+ } else {
+   content.show();
+   summary.hide();
+   $(linkObj).removeClass('closed').addClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
+ } 
+ return false;
+}
+
+function updateStripes()
+{
+  $('table.directory tr').
+       removeClass('even').filter(':visible:even').addClass('even');
+}
+
+function toggleLevel(level)
+{
+  $('table.directory tr').each(function() {
+    var l = this.id.split('_').length-1;
+    var i = $('#img'+this.id.substring(3));
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/example__get_calib_params_file_8cc.html b/src/Robot/UnitreecameraSDK/doc/html/example__get_calib_params_file_8cc.html
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+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html">examples</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">example_getCalibParamsFile.cc File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This file is part of UnitreeCameraSDK.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="_unitree_camera_s_d_k_8hpp_source.html">UnitreeCameraSDK.hpp</a>&gt;</code><br />
+<code>#include &lt;unistd.h&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for example_getCalibParamsFile.cc:</div>
+<div class="dyncontent">
+<div class="center"><img src="example__get_calib_params_file_8cc__incl.png" border="0" usemap="#examples_2example__get_calib_params_file_8cc" alt=""/></div>
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+Functions</h2></td></tr>
+<tr class="memitem:a0ddf1224851353fc92bfbff6f499fa97"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="example__get_calib_params_file_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">main</a> (int argc, char *argv[])</td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file is part of UnitreeCameraSDK. </p>
+<p>This example that how to get camera internal parameters </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a0ddf1224851353fc92bfbff6f499fa97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ddf1224851353fc92bfbff6f499fa97">&#9670;&nbsp;</a></span>main()</h2>
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+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int main </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>argc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">char *&#160;</td>
+          <td class="paramname"><em>argv</em>[]&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>&lt; init <a class="el" href="class_unitree_camera.html">UnitreeCamera</a> object by config file</p>
+<p>&lt; get camera open state</p>
+<p>&lt; disable image h264 encoding and share memory sharing</p>
+<p>&lt; wait parameters initialization finished</p>
+<p>&lt; save parameters to output_camCalibParams.yaml</p>
+<p>&lt; stop camera capturing </p>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/example__get_calib_params_file_8cc__incl.map b/src/Robot/UnitreecameraSDK/doc/html/example__get_calib_params_file_8cc__incl.map
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+   <div id="projectname">UnitreeCameraSDK
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+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html">examples</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">example_getDepthFrame.cc File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This file is part of UnitreeCameraSDK.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="_unitree_camera_s_d_k_8hpp_source.html">UnitreeCameraSDK.hpp</a>&gt;</code><br />
+<code>#include &lt;unistd.h&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for example_getDepthFrame.cc:</div>
+<div class="dyncontent">
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+<area shape="rect" id="node3" href="_stereo_camera_common_8hpp.html" title="This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs. " alt="" coords="160,169,344,196"/>
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+</div>
+</div><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
+Functions</h2></td></tr>
+<tr class="memitem:a0ddf1224851353fc92bfbff6f499fa97"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="example__get_depth_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">main</a> (int argc, char *argv[])</td></tr>
+<tr class="separator:a0ddf1224851353fc92bfbff6f499fa97"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file is part of UnitreeCameraSDK. </p>
+<p>This example that how to get depth frame </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a0ddf1224851353fc92bfbff6f499fa97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ddf1224851353fc92bfbff6f499fa97">&#9670;&nbsp;</a></span>main()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int main </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>argc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">char *&#160;</td>
+          <td class="paramname"><em>argv</em>[]&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>&lt; init <a class="el" href="class_unitree_camera.html">UnitreeCamera</a> object by config file</p>
+<p>&lt; get camera open state</p>
+<p>&lt; disable image h264 encoding and share memory sharing</p>
+<p>&lt; start disparity computing</p>
+<p>&lt; get stereo camera depth image</p>
+<p>&lt; stop disparity computing</p>
+<p>&lt; stop camera capturing </p>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/example__get_depth_frame_8cc__incl.map b/src/Robot/UnitreecameraSDK/doc/html/example__get_depth_frame_8cc__incl.map
new file mode 100644
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--- /dev/null
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+<map id="examples/example_getDepthFrame.cc" name="examples/example_getDepthFrame.cc">
+<area shape="rect" id="node2" href="$_unitree_camera_s_d_k_8hpp.html" title="This file is part of UnitreeCameraSDK, which declare unitree camera APIs. " alt="" coords="171,95,334,121"/>
+<area shape="rect" id="node3" href="$_stereo_camera_common_8hpp.html" title="This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs. " alt="" coords="160,169,344,196"/>
+<area shape="rect" id="node10" href="$_system_log_8hpp.html" title="This file is part of UnitreeCameraSDK, which declare the APIs of log system. " alt="" coords="593,244,706,271"/>
+</map>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/example__get_depth_frame_8cc__incl.md5 b/src/Robot/UnitreecameraSDK/doc/html/example__get_depth_frame_8cc__incl.md5
new file mode 100644
index 0000000..9b43ab7
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/example__get_depth_frame_8cc__incl.md5
@@ -0,0 +1 @@
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+<a href="#define-members">Macros</a> &#124;
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+<a href="#var-members">Variables</a>  </div>
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+<div class="contents">
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+<p>This file is part of UnitreeCameraSDK.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;GL/gl.h&gt;</code><br />
+<code>#include &lt;signal.h&gt;</code><br />
+<code>#include &lt;cerrno&gt;</code><br />
+<code>#include &lt;cfenv&gt;</code><br />
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+void&#160;</td><td class="memItemRight" valign="bottom"><b>DrawScene</b> (const std::vector&lt; <a class="el" href="struct_p_c_l.html">PCLType</a> &gt; &amp;pcl_vec)</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file is part of UnitreeCameraSDK. </p>
+<p>This example that how to get camera point cloud. </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
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+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html">examples</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">example_getRawFrame.cc File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This file is part of UnitreeCameraSDK.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="_unitree_camera_s_d_k_8hpp_source.html">UnitreeCameraSDK.hpp</a>&gt;</code><br />
+<code>#include &lt;unistd.h&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for example_getRawFrame.cc:</div>
+<div class="dyncontent">
+<div class="center"><img src="example__get_raw_frame_8cc__incl.png" border="0" usemap="#examples_2example__get_raw_frame_8cc" alt=""/></div>
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+Functions</h2></td></tr>
+<tr class="memitem:a0ddf1224851353fc92bfbff6f499fa97"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="example__get_raw_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">main</a> (int argc, char *argv[])</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file is part of UnitreeCameraSDK. </p>
+<p>This example that how to get camera raw frame. </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a0ddf1224851353fc92bfbff6f499fa97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ddf1224851353fc92bfbff6f499fa97">&#9670;&nbsp;</a></span>main()</h2>
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+<div class="memitem">
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+        <tr>
+          <td class="memname">int main </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>argc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">char *&#160;</td>
+          <td class="paramname"><em>argv</em>[]&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>&lt; init camera by device node number</p>
+<p>&lt; set camera frame size</p>
+<p>&lt; set camera frame rate</p>
+<p>&lt; start camera capturing</p>
+<p>&lt; get camera raw image</p>
+<p>&lt; stop camera capturing </p>
+
+</div>
+</div>
+</div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+   <div id="projectname">UnitreeCameraSDK
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+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html">examples</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle">
+<div class="title">example_getRectFrame.cc File Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This file is part of UnitreeCameraSDK.  
+<a href="#details">More...</a></p>
+<div class="textblock"><code>#include &lt;<a class="el" href="_unitree_camera_s_d_k_8hpp_source.html">UnitreeCameraSDK.hpp</a>&gt;</code><br />
+<code>#include &lt;unistd.h&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for example_getRectFrame.cc:</div>
+<div class="dyncontent">
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+Functions</h2></td></tr>
+<tr class="memitem:a0ddf1224851353fc92bfbff6f499fa97"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="example__get_rect_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">main</a> (int argc, char *argv[])</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>This file is part of UnitreeCameraSDK. </p>
+<p>This example that how to get depth frame </p><dl class="section author"><dt>Author</dt><dd>ZhangChunyang </dd></dl>
+<dl class="section date"><dt>Date</dt><dd>2021.07.31 </dd></dl>
+<dl class="section version"><dt>Version</dt><dd>1.0.1 </dd></dl>
+<dl class="section copyright"><dt>Copyright</dt><dd>Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved. </dd></dl>
+</div><h2 class="groupheader">Function Documentation</h2>
+<a id="a0ddf1224851353fc92bfbff6f499fa97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ddf1224851353fc92bfbff6f499fa97">&#9670;&nbsp;</a></span>main()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int main </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>argc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">char *&#160;</td>
+          <td class="paramname"><em>argv</em>[]&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<p>&lt; default 0 -&gt; /dev/video0</p>
+<p>&lt; default frame size 1856x800</p>
+<p>&lt; default camera fps: 30</p>
+<p>&lt; init camera by device node number</p>
+<p>&lt; get camera open state</p>
+<p>&lt; set camera frame size</p>
+<p>&lt; set camera camera fps</p>
+<p>&lt; set camera rectify frame size</p>
+<p>&lt; disable image h264 encoding and share memory sharing</p>
+<p>&lt; get longlat rectify left,right and fisheye rectify feim</p>
+<p>&lt; stop camera capturing </p>
+
+</div>
+</div>
+</div><!-- contents -->
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+<title>UnitreeCameraSDK: File List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
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+   <div id="projectbrief">unitree stereo camra apis</div>
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+<tr id="row_0_2_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icondoc"></span><a class="el" href="example__get_depth_frame_8cc.html" target="_self">example_getDepthFrame.cc</a></td><td class="desc">This file is part of UnitreeCameraSDK </td></tr>
+<tr id="row_0_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icondoc"></span><a class="el" href="example__get_point_cloud_8cc.html" target="_self">example_getPointCloud.cc</a></td><td class="desc">This file is part of UnitreeCameraSDK </td></tr>
+<tr id="row_0_4_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icondoc"></span><a class="el" href="example__get_raw_frame_8cc.html" target="_self">example_getRawFrame.cc</a></td><td class="desc">This file is part of UnitreeCameraSDK </td></tr>
+<tr id="row_0_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icondoc"></span><a class="el" href="example__get_rect_frame_8cc.html" target="_self">example_getRectFrame.cc</a></td><td class="desc">This file is part of UnitreeCameraSDK </td></tr>
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+<tr id="row_1_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><a href="_stereo_camera_common_8hpp_source.html"><span class="icondoc"></span></a><a class="el" href="_stereo_camera_common_8hpp.html" target="_self">StereoCameraCommon.hpp</a></td><td class="desc">This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs </td></tr>
+<tr id="row_1_1_"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><a href="_system_log_8hpp_source.html"><span class="icondoc"></span></a><a class="el" href="_system_log_8hpp.html" target="_self">SystemLog.hpp</a></td><td class="desc">This file is part of UnitreeCameraSDK, which declare the APIs of log system </td></tr>
+<tr id="row_1_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><a href="_unitree_camera_s_d_k_8hpp_source.html"><span class="icondoc"></span></a><a class="el" href="_unitree_camera_s_d_k_8hpp.html" target="_self">UnitreeCameraSDK.hpp</a></td><td class="desc">This file is part of UnitreeCameraSDK, which declare unitree camera APIs </td></tr>
+<tr id="row_2_"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_2_" class="arrow" onclick="toggleFolder('2_')">&#9660;</span><span id="img_2_" class="iconfopen" onclick="toggleFolder('2_')">&#160;</span><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html" target="_self">src</a></td><td class="desc"></td></tr>
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+</div><!-- directory -->
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented class members with links to the class documentation for each member:</div>
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>checkFirmwareVersion()
+: <a class="el" href="class_unitree_camera.html#a45e182540ab4bb59b68fb07c23bdd91f">UnitreeCamera</a>
+</li>
+<li>clr
+: <a class="el" href="struct_p_c_l.html#a6555550c790378b130273dd6ae3a2158">PCL</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>debugTimeError()
+: <a class="el" href="class_system_log.html#ae1cbe2de51efe22068e2e047396a72dd">SystemLog</a>
+</li>
+<li>debugTimeInfo()
+: <a class="el" href="class_system_log.html#ad79238fdcc9a301093d6fa32884d1ae1">SystemLog</a>
+</li>
+<li>debugTimeWarning()
+: <a class="el" href="class_system_log.html#a08dff4b478ed29a39d584d3b7f21ddfb">SystemLog</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>getCalibParams()
+: <a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">StereoCamera</a>
+</li>
+<li>getDepthFrame()
+: <a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">StereoCamera</a>
+</li>
+<li>getDeviceNode()
+: <a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">StereoCamera</a>
+</li>
+<li>getLogLevel()
+: <a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">StereoCamera</a>
+</li>
+<li>getPosNumber()
+: <a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">StereoCamera</a>
+</li>
+<li>getRawFrame()
+: <a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">StereoCamera</a>
+</li>
+<li>getRawFrameRate()
+: <a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">StereoCamera</a>
+</li>
+<li>getRawFrameSize()
+: <a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">StereoCamera</a>
+</li>
+<li>getSerialNumber()
+: <a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">StereoCamera</a>
+</li>
+<li>getStereoFrame()
+: <a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">StereoCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>isOpened()
+: <a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">StereoCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>loadCalibParams()
+: <a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">StereoCamera</a>
+</li>
+<li>loadConfig()
+: <a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">StereoCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_p"></a>- p -</h3><ul>
+<li>pts
+: <a class="el" href="struct_p_c_l.html#a07c28b7f533724d91ec4a9e461989d8c">PCL</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>runTimeError()
+: <a class="el" href="class_system_log.html#ac33b9f16ae96885ff7170d209a6af506">SystemLog</a>
+</li>
+<li>runTimeInfo()
+: <a class="el" href="class_system_log.html#ac9b085c959e3f97d547c997c2fca2613">SystemLog</a>
+</li>
+<li>runTimeWarning()
+: <a class="el" href="class_system_log.html#a69d19a4affe470db2b740a1e9a78e6e5">SystemLog</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>saveCalibParams()
+: <a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">StereoCamera</a>
+</li>
+<li>saveConfig()
+: <a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">StereoCamera</a>
+</li>
+<li>saveLog()
+: <a class="el" href="class_system_log.html#a9714a265975472433882962b7449bd45">SystemLog</a>
+</li>
+<li>saveLogToFile()
+: <a class="el" href="class_system_log.html#af41d346f86242f5be187fe2be354347d">SystemLog</a>
+</li>
+<li>setCalibParams()
+: <a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">StereoCamera</a>
+</li>
+<li>setLogLevel()
+: <a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">StereoCamera</a>
+, <a class="el" href="class_system_log.html#a21296bb67489848bad6cfa04280fec85">SystemLog</a>
+</li>
+<li>setPosNumber()
+: <a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">StereoCamera</a>
+</li>
+<li>setRawFrameRate()
+: <a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">StereoCamera</a>
+</li>
+<li>setRawFrameSize()
+: <a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">StereoCamera</a>
+</li>
+<li>setRectFrameSize()
+: <a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">StereoCamera</a>
+</li>
+<li>setSerialNumber()
+: <a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">StereoCamera</a>
+</li>
+<li>startCapture()
+: <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">StereoCamera</a>
+</li>
+<li>startStereoCompute()
+: <a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">StereoCamera</a>
+</li>
+<li>StereoCamera()
+: <a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>
+</li>
+<li>stopCapture()
+: <a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">StereoCamera</a>
+</li>
+<li>stopStereoCompute()
+: <a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">StereoCamera</a>
+</li>
+<li>SystemLog()
+: <a class="el" href="class_system_log.html#aad41c68c3a8192ddb646170349023c99">SystemLog</a>
+</li>
+</ul>
+
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>UnitreeCamera()
+: <a class="el" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a>
+</li>
+<li>updateCalibParams2Flash()
+: <a class="el" href="class_unitree_camera.html#ab056c2e429ec5d91b7e838c18cbd0d73">UnitreeCamera</a>
+</li>
+<li>updateFirmware()
+: <a class="el" href="class_unitree_camera.html#abd0fd0e03ac98f90905ea582e4f397a7">UnitreeCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_0x7e"></a>- ~ -</h3><ul>
+<li>~StereoCamera()
+: <a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">StereoCamera</a>
+</li>
+<li>~UnitreeCamera()
+: <a class="el" href="class_unitree_camera.html#aefb112b0fa677221163ddd18ccf08d8c">UnitreeCamera</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/functions_func.html b/src/Robot/UnitreecameraSDK/doc/html/functions_func.html
new file mode 100644
index 0000000..bcabf67
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/functions_func.html
@@ -0,0 +1,234 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;
+
+<h3><a id="index_c"></a>- c -</h3><ul>
+<li>checkFirmwareVersion()
+: <a class="el" href="class_unitree_camera.html#a45e182540ab4bb59b68fb07c23bdd91f">UnitreeCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_d"></a>- d -</h3><ul>
+<li>debugTimeError()
+: <a class="el" href="class_system_log.html#ae1cbe2de51efe22068e2e047396a72dd">SystemLog</a>
+</li>
+<li>debugTimeInfo()
+: <a class="el" href="class_system_log.html#ad79238fdcc9a301093d6fa32884d1ae1">SystemLog</a>
+</li>
+<li>debugTimeWarning()
+: <a class="el" href="class_system_log.html#a08dff4b478ed29a39d584d3b7f21ddfb">SystemLog</a>
+</li>
+</ul>
+
+
+<h3><a id="index_g"></a>- g -</h3><ul>
+<li>getCalibParams()
+: <a class="el" href="class_stereo_camera.html#a61ea11e661cca31acb780edbbba1d32e">StereoCamera</a>
+</li>
+<li>getDepthFrame()
+: <a class="el" href="class_stereo_camera.html#aa0bd7e3a7ab4fcf2598ac4e780a27cb3">StereoCamera</a>
+</li>
+<li>getDeviceNode()
+: <a class="el" href="class_stereo_camera.html#a34d50c8166cf8f3f76fff5789f8f1eee">StereoCamera</a>
+</li>
+<li>getLogLevel()
+: <a class="el" href="class_stereo_camera.html#a105495e27d95f3f905ef1de0f9866c70">StereoCamera</a>
+</li>
+<li>getPosNumber()
+: <a class="el" href="class_stereo_camera.html#ab844029084a9a9de0996c1e7b24c258c">StereoCamera</a>
+</li>
+<li>getRawFrame()
+: <a class="el" href="class_stereo_camera.html#ac8fbb6e1ebd828b1640d43ad7cdc0f9c">StereoCamera</a>
+</li>
+<li>getRawFrameRate()
+: <a class="el" href="class_stereo_camera.html#ac92c3a60ae0c38e203c81bb2a2738eb4">StereoCamera</a>
+</li>
+<li>getRawFrameSize()
+: <a class="el" href="class_stereo_camera.html#a38c990b26167c2f7823b20f44b1a8fa7">StereoCamera</a>
+</li>
+<li>getSerialNumber()
+: <a class="el" href="class_stereo_camera.html#a3cb43015d545854892dd2e4057f5b2be">StereoCamera</a>
+</li>
+<li>getStereoFrame()
+: <a class="el" href="class_stereo_camera.html#aa25f48d95ba8d1c71fb0e40b53f68379">StereoCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_i"></a>- i -</h3><ul>
+<li>isOpened()
+: <a class="el" href="class_stereo_camera.html#a47c0d9ee727f13af5d348db9f217a44b">StereoCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_l"></a>- l -</h3><ul>
+<li>loadCalibParams()
+: <a class="el" href="class_stereo_camera.html#afb896942fb7fe1ea33c80ec9dcefa6a0">StereoCamera</a>
+</li>
+<li>loadConfig()
+: <a class="el" href="class_stereo_camera.html#afe25245d518e12c6f0a685d7da7a2979">StereoCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_r"></a>- r -</h3><ul>
+<li>runTimeError()
+: <a class="el" href="class_system_log.html#ac33b9f16ae96885ff7170d209a6af506">SystemLog</a>
+</li>
+<li>runTimeInfo()
+: <a class="el" href="class_system_log.html#ac9b085c959e3f97d547c997c2fca2613">SystemLog</a>
+</li>
+<li>runTimeWarning()
+: <a class="el" href="class_system_log.html#a69d19a4affe470db2b740a1e9a78e6e5">SystemLog</a>
+</li>
+</ul>
+
+
+<h3><a id="index_s"></a>- s -</h3><ul>
+<li>saveCalibParams()
+: <a class="el" href="class_stereo_camera.html#a7611e0d97d57abf36b4fa7dca2a3cfc5">StereoCamera</a>
+</li>
+<li>saveConfig()
+: <a class="el" href="class_stereo_camera.html#a568930e8b3668361fedad5233ab5ba47">StereoCamera</a>
+</li>
+<li>saveLog()
+: <a class="el" href="class_system_log.html#a9714a265975472433882962b7449bd45">SystemLog</a>
+</li>
+<li>saveLogToFile()
+: <a class="el" href="class_system_log.html#af41d346f86242f5be187fe2be354347d">SystemLog</a>
+</li>
+<li>setCalibParams()
+: <a class="el" href="class_stereo_camera.html#a98d7546631507bcede3c9a850e69db7a">StereoCamera</a>
+</li>
+<li>setLogLevel()
+: <a class="el" href="class_stereo_camera.html#adb684170c2180eb2109f9eecd1723c1c">StereoCamera</a>
+, <a class="el" href="class_system_log.html#a21296bb67489848bad6cfa04280fec85">SystemLog</a>
+</li>
+<li>setPosNumber()
+: <a class="el" href="class_stereo_camera.html#ad570580bd5b16ac58831d57ffd23ce5b">StereoCamera</a>
+</li>
+<li>setRawFrameRate()
+: <a class="el" href="class_stereo_camera.html#aa28635e45b1d0ade5353a69e2a7175e4">StereoCamera</a>
+</li>
+<li>setRawFrameSize()
+: <a class="el" href="class_stereo_camera.html#adb1ed69d226251cd050b1deab0270af8">StereoCamera</a>
+</li>
+<li>setRectFrameSize()
+: <a class="el" href="class_stereo_camera.html#ac2d8d3a96e0ac426af20a3e88df0167a">StereoCamera</a>
+</li>
+<li>setSerialNumber()
+: <a class="el" href="class_stereo_camera.html#a110ad0dc21cea5bfa5607752fc858163">StereoCamera</a>
+</li>
+<li>startCapture()
+: <a class="el" href="class_stereo_camera.html#a4e5146c1d33ab5f4f9a3995b93e3cbc5">StereoCamera</a>
+</li>
+<li>startStereoCompute()
+: <a class="el" href="class_stereo_camera.html#abb6da9140cb988beb753514e7416032b">StereoCamera</a>
+</li>
+<li>StereoCamera()
+: <a class="el" href="class_stereo_camera.html#a6d9ac42b50dc07f5f846336ffd29e752">StereoCamera</a>
+</li>
+<li>stopCapture()
+: <a class="el" href="class_stereo_camera.html#a8c9f54bf349fd4dc5a8ba9fd26f22c31">StereoCamera</a>
+</li>
+<li>stopStereoCompute()
+: <a class="el" href="class_stereo_camera.html#a3597295e386dfe27474ff0e9567e6d6c">StereoCamera</a>
+</li>
+<li>SystemLog()
+: <a class="el" href="class_system_log.html#aad41c68c3a8192ddb646170349023c99">SystemLog</a>
+</li>
+</ul>
+
+
+<h3><a id="index_u"></a>- u -</h3><ul>
+<li>UnitreeCamera()
+: <a class="el" href="class_unitree_camera.html#af8a5e0c70f99096ecd378680d2f1ec27">UnitreeCamera</a>
+</li>
+<li>updateCalibParams2Flash()
+: <a class="el" href="class_unitree_camera.html#ab056c2e429ec5d91b7e838c18cbd0d73">UnitreeCamera</a>
+</li>
+<li>updateFirmware()
+: <a class="el" href="class_unitree_camera.html#abd0fd0e03ac98f90905ea582e4f397a7">UnitreeCamera</a>
+</li>
+</ul>
+
+
+<h3><a id="index_0x7e"></a>- ~ -</h3><ul>
+<li>~StereoCamera()
+: <a class="el" href="class_stereo_camera.html#a2b36ce592e0e2bf0850d37681c51ae60">StereoCamera</a>
+</li>
+<li>~UnitreeCamera()
+: <a class="el" href="class_unitree_camera.html#aefb112b0fa677221163ddd18ccf08d8c">UnitreeCamera</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/functions_vars.html b/src/Robot/UnitreecameraSDK/doc/html/functions_vars.html
new file mode 100644
index 0000000..323c93e
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/functions_vars.html
@@ -0,0 +1,79 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Class Members - Variables</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;<ul>
+<li>clr
+: <a class="el" href="struct_p_c_l.html#a6555550c790378b130273dd6ae3a2158">PCL</a>
+</li>
+<li>pts
+: <a class="el" href="struct_p_c_l.html#a07c28b7f533724d91ec4a9e461989d8c">PCL</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/globals.html b/src/Robot/UnitreecameraSDK/doc/html/globals.html
new file mode 100644
index 0000000..5ee6ec0
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/globals.html
@@ -0,0 +1,85 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all documented file members with links to the documentation:</div><ul>
+<li>ImageRect
+: <a class="el" href="_stereo_camera_common_8cc.html#a883d5937720f572dee2c22374bf7190b">StereoCameraCommon.cc</a>
+</li>
+<li>main()
+: <a class="el" href="example__get_calib_params_file_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">example_getCalibParamsFile.cc</a>
+, <a class="el" href="example__get_rect_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">example_getRectFrame.cc</a>
+, <a class="el" href="example__get_raw_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">example_getRawFrame.cc</a>
+, <a class="el" href="example__get_depth_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">example_getDepthFrame.cc</a>
+</li>
+<li>RGB_PCL
+: <a class="el" href="example__get_point_cloud_8cc.html#a252571170a109b31218383613dc16295">example_getPointCloud.cc</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="contents">
+&#160;<ul>
+<li>RGB_PCL
+: <a class="el" href="example__get_point_cloud_8cc.html#a252571170a109b31218383613dc16295">example_getPointCloud.cc</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/globals_enum.html b/src/Robot/UnitreecameraSDK/doc/html/globals_enum.html
new file mode 100644
index 0000000..4b759a8
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/globals_enum.html
@@ -0,0 +1,76 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+</div><!-- top -->
+<!-- window showing the filter options -->
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+&#160;<ul>
+<li>ImageRect
+: <a class="el" href="_stereo_camera_common_8cc.html#a883d5937720f572dee2c22374bf7190b">StereoCameraCommon.cc</a>
+</li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: File Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
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+   <div id="projectbrief">unitree stereo camra apis</div>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+        name="MSearchResults" id="MSearchResults">
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+&#160;<ul>
+<li>main()
+: <a class="el" href="example__get_calib_params_file_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">example_getCalibParamsFile.cc</a>
+, <a class="el" href="example__get_rect_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">example_getRectFrame.cc</a>
+, <a class="el" href="example__get_raw_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">example_getRawFrame.cc</a>
+, <a class="el" href="example__get_depth_frame_8cc.html#a0ddf1224851353fc92bfbff6f499fa97">example_getDepthFrame.cc</a>
+</li>
+</ul>
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/glwindow_8hpp_source.html b/src/Robot/UnitreecameraSDK/doc/html/glwindow_8hpp_source.html
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@@ -0,0 +1,85 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: examples/glViewer/glwindow.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html">examples</a></li><li class="navelem"><a class="el" href="dir_8d5e63337d9bc0375b6fa20fd80d83ec.html">glViewer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">glwindow.hpp</div>  </div>
+</div><!--header-->
+<div class="contents">
+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceglwindow.html">glwindow</a> {</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;    </div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160; 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   </div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structglwindow_1_1_event_handler.html">   39</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structglwindow_1_1_event_handler.html">EventHandler</a></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    {</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="structglwindow_1_1_event_handler.html">EventHandler</a>() {}</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_key_down(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> key) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_key_up(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> key) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_text(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keyword">const</span> <span class="keywordtype">char</span> *text, <span class="keywordtype">int</span> len) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_button_down(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> btn, <span class="keywordtype">int</span> state, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_button_up(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> btn, <span class="keywordtype">int</span> state, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_mouse_move(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> state, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_mouse_wheel(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> state, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> dx, <span class="keywordtype">int</span> dy) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_resize(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> w, <span class="keywordtype">int</span> h) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> on_close(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    };</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="comment">// Dispatches to each handler in reverse order until one returns true</span></div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classglwindow_1_1_event_dispatcher.html">   55</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classglwindow_1_1_event_dispatcher.html">EventDispatcher</a> : <span class="keyword">public</span> <a class="code" href="structglwindow_1_1_event_handler.html">EventHandler</a></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keyword">const</span> std::vector&lt;EventHandler*&gt; &amp;handlers;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <a class="code" href="classglwindow_1_1_event_dispatcher.html">EventDispatcher</a>(<span class="keyword">const</span> std::vector&lt;EventHandler*&gt; &amp;h) :</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            handlers(h) {}</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keywordtype">bool</span> on_key_down(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> key);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        <span class="keywordtype">bool</span> on_key_up(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> key);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        <span class="keywordtype">bool</span> on_text(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keyword">const</span> <span class="keywordtype">char</span> *text, <span class="keywordtype">int</span> len);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keywordtype">bool</span> on_button_down(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> btn, <span class="keywordtype">int</span> state, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keywordtype">bool</span> on_button_up(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> btn, <span class="keywordtype">int</span> state, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordtype">bool</span> on_mouse_move(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> state, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordtype">bool</span> on_mouse_wheel(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> state, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> dx, <span class="keywordtype">int</span> dy);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordtype">bool</span> on_resize(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win, <span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> w, <span class="keywordtype">int</span> h);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keywordtype">bool</span> on_close(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>&amp; win);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    };</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    </div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classglwindow_1_1_g_l_window.html">   72</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>(<span class="keywordtype">int</span> w=-1, <span class="keywordtype">int</span> h=-1, <span class="keyword">const</span> <span class="keywordtype">char</span> *title=0);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a>();</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keywordtype">int</span> width() <span class="keyword">const</span>;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordtype">int</span> height() <span class="keyword">const</span>;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordtype">bool</span> visible() <span class="keyword">const</span>;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keywordtype">bool</span> alive() <span class="keyword">const</span>;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        </div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keywordtype">bool</span> make_current();</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="keywordtype">bool</span> push_context();</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keywordtype">void</span> pop_context();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structglwindow_1_1_g_l_window_1_1_scoped_context.html">   87</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structglwindow_1_1_g_l_window_1_1_scoped_context.html">ScopedContext</a> {</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            <a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;win;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            <a class="code" href="structglwindow_1_1_g_l_window_1_1_scoped_context.html">ScopedContext</a>(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;w) : win(w) {</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                win.push_context();</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;            }           </div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            ~<a class="code" href="structglwindow_1_1_g_l_window_1_1_scoped_context.html">ScopedContext</a>() {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                win.pop_context();</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            }</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        };</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        </div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keywordtype">void</span> swap_buffers();</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        </div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordtype">void</span> set_size(<span class="keywordtype">int</span> w, <span class="keywordtype">int</span> h);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keywordtype">void</span> set_position(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        </div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <span class="keywordtype">void</span> set_title(<span class="keyword">const</span> <span class="keywordtype">char</span>* title);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        </div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordtype">void</span> add_handler(<a class="code" href="structglwindow_1_1_event_handler.html">EventHandler</a>* handler);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keywordtype">bool</span> remove_handler(<a class="code" href="structglwindow_1_1_event_handler.html">EventHandler</a> *handler);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordtype">void</span> handle_events();</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> handle_all_events();</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        </div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordtype">void</span> destroy();</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordtype">void</span> draw_text(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keyword">const</span> <span class="keywordtype">char</span> *text, <span class="keywordtype">int</span> xywh[4]=0);</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">struct </span><a class="code" href="struct_g_l_window_1_1_system_state.html">SystemState</a>;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="struct_g_l_window_1_1_system_state.html">SystemState</a> *sys_state;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        std::vector&lt;EventHandler*&gt; handlers;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a> *prev_active;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">static</span> <a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a> *active_context;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">static</span> std::vector&lt;GLWindow*&gt; all_windows;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> add_window(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a> *win);</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">bool</span> remove_window(<a class="code" href="classglwindow_1_1_g_l_window.html">GLWindow</a> *win);</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    };</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;}</div><div class="ttc" id="namespaceglwindow_html"><div class="ttname"><a href="namespaceglwindow.html">glwindow</a></div><div class="ttdef"><b>Definition:</b> glwindow.hpp:7</div></div>
+<div class="ttc" id="structglwindow_1_1_event_handler_html"><div class="ttname"><a href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></div><div class="ttdef"><b>Definition:</b> glwindow.hpp:39</div></div>
+<div class="ttc" id="classglwindow_1_1_event_dispatcher_html"><div class="ttname"><a href="classglwindow_1_1_event_dispatcher.html">glwindow::EventDispatcher</a></div><div class="ttdef"><b>Definition:</b> glwindow.hpp:55</div></div>
+<div class="ttc" id="classglwindow_1_1_g_l_window_html"><div class="ttname"><a href="classglwindow_1_1_g_l_window.html">glwindow::GLWindow</a></div><div class="ttdef"><b>Definition:</b> glwindow.hpp:72</div></div>
+<div class="ttc" id="struct_g_l_window_1_1_system_state_html"><div class="ttname"><a href="struct_g_l_window_1_1_system_state.html">glwindow::GLWindow::SystemState</a></div><div class="ttdef"><b>Definition:</b> glwindow_x11.cpp:176</div></div>
+<div class="ttc" id="structglwindow_1_1_g_l_window_1_1_scoped_context_html"><div class="ttname"><a href="structglwindow_1_1_g_l_window_1_1_scoped_context.html">glwindow::GLWindow::ScopedContext</a></div><div class="ttdef"><b>Definition:</b> glwindow.hpp:87</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/graph_legend.html b/src/Robot/UnitreecameraSDK/doc/html/graph_legend.html
new file mode 100644
index 0000000..693557b
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/graph_legend.html
@@ -0,0 +1,104 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Graph Legend</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree camera sdk apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
+<script type="text/javascript">
+var searchBox = new SearchBox("searchBox", "search",false,'Search');
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+<div id="main-nav"></div>
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
+</iframe>
+</div>
+
+<div class="header">
+  <div class="headertitle">
+<div class="title">Graph Legend</div>  </div>
+</div><!--header-->
+<div class="contents">
+<p>This page explains how to interpret the graphs that are generated by doxygen.</p>
+<p>Consider the following example: </p><div class="fragment"><div class="line">/*! Invisible class because of truncation */</div><div class="line">class Invisible { };</div><div class="line"></div><div class="line">/*! Truncated class, inheritance relation is hidden */</div><div class="line">class Truncated : public Invisible { };</div><div class="line"></div><div class="line">/* Class not documented with doxygen comments */</div><div class="line">class Undocumented { };</div><div class="line"></div><div class="line">/*! Class that is inherited using public inheritance */</div><div class="line">class PublicBase : public Truncated { };</div><div class="line"></div><div class="line">/*! A template class */</div><div class="line">template&lt;class T&gt; class Templ { };</div><div class="line"></div><div class="line">/*! Class that is inherited using protected inheritance */</div><div class="line">class ProtectedBase { };</div><div class="line"></div><div class="line">/*! Class that is inherited using private inheritance */</div><div class="line">class PrivateBase { };</div><div class="line"></div><div class="line">/*! Class that is used by the Inherited class */</div><div class="line">class Used { };</div><div class="line"></div><div class="line">/*! Super class that inherits a number of other classes */</div><div class="line">class Inherited : public PublicBase,</div><div class="line">                  protected ProtectedBase,</div><div class="line">                  private PrivateBase,</div><div class="line">                  public Undocumented,</div><div class="line">                  public Templ&lt;int&gt;</div><div class="line">{</div><div class="line">  private:</div><div class="line">    Used *m_usedClass;</div><div class="line">};</div></div><!-- fragment --><p> This will result in the following graph:</p>
+<center><div class="image">
+<img src="graph_legend.png"/>
+</div>
+</center><p>The boxes in the above graph have the following meaning: </p>
+<ul>
+<li>
+A filled gray box represents the struct or class for which the graph is generated. </li>
+<li>
+A box with a black border denotes a documented struct or class. </li>
+<li>
+A box with a gray border denotes an undocumented struct or class. </li>
+<li>
+A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries. </li>
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/graph_legend.md5 b/src/Robot/UnitreecameraSDK/doc/html/graph_legend.md5
new file mode 100644
index 0000000..a06ed05
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/graph_legend.md5
@@ -0,0 +1 @@
+387ff8eb65306fa251338d3c9bd7bfff
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/html/graph_legend.png b/src/Robot/UnitreecameraSDK/doc/html/graph_legend.png
new file mode 100644
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/index.html b/src/Robot/UnitreecameraSDK/doc/html/index.html
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+   <div id="projectname">UnitreeCameraSDK
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+   <div id="projectbrief">unitree camera sdk apis</div>
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+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p>Unitree Robotics is a energetic start-up company that focuses on the development, production and sales of high-performance quadruped robots. It has been interviewed by BBC and CCTV, and is one of the earliest company to publicly sell quadruped robots.</p>
+<p>The company has an outstanding leadership in developing robot core components, motion control, robot perception, etc.</p>
+<p>We attaches great importance to research and development, and thus independently developed the motors, reducers, controllers, and even some sensors of the quadruped robot.</p>
+<h2>1.Overview </h2>
+<p>UnitreeCameraSDK 1.0 is a cross-platform library for unitree depth cameras</p>
+<p>The SDK allows depth and color streaming, and provides intrinsic calibration information. The library also offers pointcloud, depth aligned to color and vise-versa.</p>
+<h2>2.Dependencies </h2>
+<p>OpenCV, version: equal or lager than 4 Cmake, version: 2.8</p>
+<h2>2.Build </h2>
+<div class="fragment"><div class="line">cd UnitreeCameraSDK;</div><div class="line">mkdir build; cd build;</div><div class="line">cmake ..; make</div></div><!-- fragment --><h2>3.Run Examples </h2>
+<p>Get Camera Raw Frame: </p><div class="fragment"><div class="line">cd UnitreeCameraSDK; </div><div class="line">./bin/example_getRawFrame </div></div><!-- fragment --><p>Get Calibration Parameters File </p><div class="fragment"><div class="line">cd UnitreeCameraSDK;</div><div class="line">./bin/example_getCalibParamsFile </div></div><!-- fragment --><p>Get Rectify Frame </p><div class="fragment"><div class="line">cd UnitreeCameraSDK;</div><div class="line">./bin/example_getRectFrame</div></div><!-- fragment --><p>Get Depth Frame </p><div class="fragment"><div class="line">cd UnitreeCameraSDK;</div><div class="line">./bin/example_getDepthFrame</div></div><!-- fragment --><p>Get Point Cloud: </p><div class="fragment"><div class="line">cd UnitreeCameraSDK; </div><div class="line">./bin/example_getPointCloud</div></div><!-- fragment --> </div></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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new file mode 100644
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bw=bx+"defer",bv=bx+"queue",e=bx+"mark",bz=b._data(by,bw);if(bz&&(bA==="queue"||!b._data(by,bv))&&(bA==="mark"||!b._data(by,e))){setTimeout(function(){if(!b._data(by,bv)&&!b._data(by,e)){b.removeData(by,bw,true);bz.fire()}},0)}}b.extend({_mark:function(bv,e){if(bv){e=(e||"fx")+"mark";b._data(bv,e,(b._data(bv,e)||0)+1)}},_unmark:function(by,bx,bv){if(by!==true){bv=bx;bx=by;by=false}if(bx){bv=bv||"fx";var e=bv+"mark",bw=by?0:((b._data(bx,e)||1)-1);if(bw){b._data(bx,e,bw)}else{b.removeData(bx,e,true);bi(bx,bv,"mark")}}},queue:function(bv,e,bx){var bw;if(bv){e=(e||"fx")+"queue";bw=b._data(bv,e);if(bx){if(!bw||b.isArray(bx)){bw=b._data(bv,e,b.makeArray(bx))}else{bw.push(bx)}}return bw||[]}},dequeue:function(by,bx){bx=bx||"fx";var bv=b.queue(by,bx),bw=bv.shift(),e={};if(bw==="inprogress"){bw=bv.shift()}if(bw){if(bx==="fx"){bv.unshift("inprogress")}b._data(by,bx+".run",e);bw.call(by,function(){b.dequeue(by,bx)},e)}if(!bv.length){b.removeData(by,bx+"queue 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aP=/[\n\t\r]/g,af=/\s+/,aU=/\r/g,g=/^(?:button|input)$/i,D=/^(?:button|input|object|select|textarea)$/i,l=/^a(?:rea)?$/i,ao=/^(?:autofocus|autoplay|async|checked|controls|defer|disabled|hidden|loop|multiple|open|readonly|required|scoped|selected)$/i,F=b.support.getSetAttribute,be,aY,aF;b.fn.extend({attr:function(e,bv){return b.access(this,e,bv,true,b.attr)},removeAttr:function(e){return this.each(function(){b.removeAttr(this,e)})},prop:function(e,bv){return b.access(this,e,bv,true,b.prop)},removeProp:function(e){e=b.propFix[e]||e;return this.each(function(){try{this[e]=L;delete this[e]}catch(bv){}})},addClass:function(by){var bA,bw,bv,bx,bz,bB,e;if(b.isFunction(by)){return this.each(function(bC){b(this).addClass(by.call(this,bC,this.className))})}if(by&&typeof by==="string"){bA=by.split(af);for(bw=0,bv=this.length;bw<bv;bw++){bx=this[bw];if(bx.nodeType===1){if(!bx.className&&bA.length===1){bx.className=by}else{bz=" "+bx.className+" ";for(bB=0,e=bA.length;bB<e;bB++){if(!~bz.indexOf(" 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bA,bz=0,by=b(this),bB=bv,bC=bx.split(af);while((bA=bC[bz++])){bB=e?bB:!by.hasClass(bA);by[bB?"addClass":"removeClass"](bA)}}else{if(bw==="undefined"||bw==="boolean"){if(this.className){b._data(this,"__className__",this.className)}this.className=this.className||bx===false?"":b._data(this,"__className__")||""}}})},hasClass:function(e){var bx=" "+e+" ",bw=0,bv=this.length;for(;bw<bv;bw++){if(this[bw].nodeType===1&&(" "+this[bw].className+" ").replace(aP," ").indexOf(bx)>-1){return true}}return false},val:function(bx){var e,bv,by,bw=this[0];if(!arguments.length){if(bw){e=b.valHooks[bw.nodeName.toLowerCase()]||b.valHooks[bw.type];if(e&&"get" in e&&(bv=e.get(bw,"value"))!==L){return bv}bv=bw.value;return typeof bv==="string"?bv.replace(aU,""):bv==null?"":bv}return}by=b.isFunction(bx);return this.each(function(bA){var bz=b(this),bB;if(this.nodeType!==1){return}if(by){bB=bx.call(this,bA,bz.val())}else{bB=bx}if(bB==null){bB=""}else{if(typeof bB==="number"){bB+=""}else{if(b.isArray(bB)){bB=b.map(bB,function(bC){return bC==null?"":bC+""})}}}e=b.valHooks[this.nodeName.toLowerCase()]||b.valHooks[this.type];if(!e||!("set" in e)||e.set(this,bB,"value")===L){this.value=bB}})}});b.extend({valHooks:{option:{get:function(e){var bv=e.attributes.value;return !bv||bv.specified?e.value:e.text}},select:{get:function(e){var bA,bv,bz,bx,by=e.selectedIndex,bB=[],bC=e.options,bw=e.type==="select-one";if(by<0){return null}bv=bw?by:0;bz=bw?by+1:bC.length;for(;bv<bz;bv++){bx=bC[bv];if(bx.selected&&(b.support.optDisabled?!bx.disabled:bx.getAttribute("disabled")===null)&&(!bx.parentNode.disabled||!b.nodeName(bx.parentNode,"optgroup"))){bA=b(bx).val();if(bw){return bA}bB.push(bA)}}if(bw&&!bB.length&&bC.length){return b(bC[by]).val()}return bB},set:function(bv,bw){var e=b.makeArray(bw);b(bv).find("option").each(function(){this.selected=b.inArray(b(this).val(),e)>=0});if(!e.length){bv.selectedIndex=-1}return e}}},attrFn:{val:true,css:true,html:true,text:true,data:true,width:true,height:true,offset:true},attr:function(bA,bx,bB,bz){var bw,e,by,bv=bA.nodeType;if(!bA||bv===3||bv===8||bv===2){return}if(bz&&bx in b.attrFn){return b(bA)[bx](bB)}if(typeof bA.getAttribute==="undefined"){return b.prop(bA,bx,bB)}by=bv!==1||!b.isXMLDoc(bA);if(by){bx=bx.toLowerCase();e=b.attrHooks[bx]||(ao.test(bx)?aY:be)}if(bB!==L){if(bB===null){b.removeAttr(bA,bx);return}else{if(e&&"set" in e&&by&&(bw=e.set(bA,bB,bx))!==L){return bw}else{bA.setAttribute(bx,""+bB);return bB}}}else{if(e&&"get" in e&&by&&(bw=e.get(bA,bx))!==null){return bw}else{bw=bA.getAttribute(bx);return bw===null?L:bw}}},removeAttr:function(bx,bz){var by,bA,bv,e,bw=0;if(bz&&bx.nodeType===1){bA=bz.toLowerCase().split(af);e=bA.length;for(;bw<e;bw++){bv=bA[bw];if(bv){by=b.propFix[bv]||bv;b.attr(bx,bv,"");bx.removeAttribute(F?bv:by);if(ao.test(bv)&&by in bx){bx[by]=false}}}}},attrHooks:{type:{set:function(e,bv){if(g.test(e.nodeName)&&e.parentNode){b.error("type property can't be changed")}else{if(!b.support.radioValue&&bv==="radio"&&b.nodeName(e,"input")){var bw=e.value;e.setAttribute("type",bv);if(bw){e.value=bw}return bv}}}},value:{get:function(bv,e){if(be&&b.nodeName(bv,"button")){return be.get(bv,e)}return e in bv?bv.value:null},set:function(bv,bw,e){if(be&&b.nodeName(bv,"button")){return be.set(bv,bw,e)}bv.value=bw}}},propFix:{tabindex:"tabIndex",readonly:"readOnly","for":"htmlFor","class":"className",maxlength:"maxLength",cellspacing:"cellSpacing",cellpadding:"cellPadding",rowspan:"rowSpan",colspan:"colSpan",usemap:"useMap",frameborder:"frameBorder",contenteditable:"contentEditable"},prop:function(bz,bx,bA){var bw,e,by,bv=bz.nodeType;if(!bz||bv===3||bv===8||bv===2){return}by=bv!==1||!b.isXMLDoc(bz);if(by){bx=b.propFix[bx]||bx;e=b.propHooks[bx]}if(bA!==L){if(e&&"set" in e&&(bw=e.set(bz,bA,bx))!==L){return bw}else{return(bz[bx]=bA)}}else{if(e&&"get" in e&&(bw=e.get(bz,bx))!==null){return bw}else{return bz[bx]}}},propHooks:{tabIndex:{get:function(bv){var e=bv.getAttributeNode("tabindex");return e&&e.specified?parseInt(e.value,10):D.test(bv.nodeName)||l.test(bv.nodeName)&&bv.href?0:L}}}});b.attrHooks.tabindex=b.propHooks.tabIndex;aY={get:function(bv,e){var bx,bw=b.prop(bv,e);return bw===true||typeof bw!=="boolean"&&(bx=bv.getAttributeNode(e))&&bx.nodeValue!==false?e.toLowerCase():L},set:function(bv,bx,e){var bw;if(bx===false){b.removeAttr(bv,e)}else{bw=b.propFix[e]||e;if(bw in bv){bv[bw]=true}bv.setAttribute(e,e.toLowerCase())}return e}};if(!F){aF={name:true,id:true};be=b.valHooks.button={get:function(bw,bv){var e;e=bw.getAttributeNode(bv);return e&&(aF[bv]?e.nodeValue!=="":e.specified)?e.nodeValue:L},set:function(bw,bx,bv){var e=bw.getAttributeNode(bv);if(!e){e=av.createAttribute(bv);bw.setAttributeNode(e)}return(e.nodeValue=bx+"")}};b.attrHooks.tabindex.set=be.set;b.each(["width","height"],function(bv,e){b.attrHooks[e]=b.extend(b.attrHooks[e],{set:function(bw,bx){if(bx===""){bw.setAttribute(e,"auto");return bx}}})});b.attrHooks.contenteditable={get:be.get,set:function(bv,bw,e){if(bw===""){bw="false"}be.set(bv,bw,e)}}}if(!b.support.hrefNormalized){b.each(["href","src","width","height"],function(bv,e){b.attrHooks[e]=b.extend(b.attrHooks[e],{get:function(bx){var bw=bx.getAttribute(e,2);return bw===null?L:bw}})})}if(!b.support.style){b.attrHooks.style={get:function(e){return e.style.cssText.toLowerCase()||L},set:function(e,bv){return(e.style.cssText=""+bv)}}}if(!b.support.optSelected){b.propHooks.selected=b.extend(b.propHooks.selected,{get:function(bv){var e=bv.parentNode;if(e){e.selectedIndex;if(e.parentNode){e.parentNode.selectedIndex}}return null}})}if(!b.support.enctype){b.propFix.enctype="encoding"}if(!b.support.checkOn){b.each(["radio","checkbox"],function(){b.valHooks[this]={get:function(e){return e.getAttribute("value")===null?"on":e.value}}})}b.each(["radio","checkbox"],function(){b.valHooks[this]=b.extend(b.valHooks[this],{set:function(e,bv){if(b.isArray(bv)){return(e.checked=b.inArray(b(e).val(),bv)>=0)}}})});var bd=/^(?:textarea|input|select)$/i,n=/^([^\.]*)?(?:\.(.+))?$/,J=/\bhover(\.\S+)?\b/,aO=/^key/,bf=/^(?:mouse|contextmenu)|click/,T=/^(?:focusinfocus|focusoutblur)$/,U=/^(\w*)(?:#([\w\-]+))?(?:\.([\w\-]+))?$/,Y=function(e){var bv=U.exec(e);if(bv){bv[1]=(bv[1]||"").toLowerCase();bv[3]=bv[3]&&new RegExp("(?:^|\\s)"+bv[3]+"(?:\\s|$)")}return bv},j=function(bw,e){var bv=bw.attributes||{};return((!e[1]||bw.nodeName.toLowerCase()===e[1])&&(!e[2]||(bv.id||{}).value===e[2])&&(!e[3]||e[3].test((bv["class"]||{}).value)))},bt=function(e){return b.event.special.hover?e:e.replace(J,"mouseenter$1 mouseleave$1")};b.event={add:function(bx,bC,bJ,bA,by){var bD,bB,bK,bI,bH,bF,e,bG,bv,bz,bw,bE;if(bx.nodeType===3||bx.nodeType===8||!bC||!bJ||!(bD=b._data(bx))){return}if(bJ.handler){bv=bJ;bJ=bv.handler}if(!bJ.guid){bJ.guid=b.guid++}bK=bD.events;if(!bK){bD.events=bK={}}bB=bD.handle;if(!bB){bD.handle=bB=function(bL){return typeof b!=="undefined"&&(!bL||b.event.triggered!==bL.type)?b.event.dispatch.apply(bB.elem,arguments):L};bB.elem=bx}bC=b.trim(bt(bC)).split(" ");for(bI=0;bI<bC.length;bI++){bH=n.exec(bC[bI])||[];bF=bH[1];e=(bH[2]||"").split(".").sort();bE=b.event.special[bF]||{};bF=(by?bE.delegateType:bE.bindType)||bF;bE=b.event.special[bF]||{};bG=b.extend({type:bF,origType:bH[1],data:bA,handler:bJ,guid:bJ.guid,selector:by,quick:Y(by),namespace:e.join(".")},bv);bw=bK[bF];if(!bw){bw=bK[bF]=[];bw.delegateCount=0;if(!bE.setup||bE.setup.call(bx,bA,e,bB)===false){if(bx.addEventListener){bx.addEventListener(bF,bB,false)}else{if(bx.attachEvent){bx.attachEvent("on"+bF,bB)}}}}if(bE.add){bE.add.call(bx,bG);if(!bG.handler.guid){bG.handler.guid=bJ.guid}}if(by){bw.splice(bw.delegateCount++,0,bG)}else{bw.push(bG)}b.event.global[bF]=true}bx=null},global:{},remove:function(bJ,bE,bv,bH,bB){var bI=b.hasData(bJ)&&b._data(bJ),bF,bx,bz,bL,bC,bA,bG,bw,by,bK,bD,e;if(!bI||!(bw=bI.events)){return}bE=b.trim(bt(bE||"")).split(" ");for(bF=0;bF<bE.length;bF++){bx=n.exec(bE[bF])||[];bz=bL=bx[1];bC=bx[2];if(!bz){for(bz in bw){b.event.remove(bJ,bz+bE[bF],bv,bH,true)}continue}by=b.event.special[bz]||{};bz=(bH?by.delegateType:by.bindType)||bz;bD=bw[bz]||[];bA=bD.length;bC=bC?new RegExp("(^|\\.)"+bC.split(".").sort().join("\\.(?:.*\\.)?")+"(\\.|$)"):null;for(bG=0;bG<bD.length;bG++){e=bD[bG];if((bB||bL===e.origType)&&(!bv||bv.guid===e.guid)&&(!bC||bC.test(e.namespace))&&(!bH||bH===e.selector||bH==="**"&&e.selector)){bD.splice(bG--,1);if(e.selector){bD.delegateCount--}if(by.remove){by.remove.call(bJ,e)}}}if(bD.length===0&&bA!==bD.length){if(!by.teardown||by.teardown.call(bJ,bC)===false){b.removeEvent(bJ,bz,bI.handle)}delete bw[bz]}}if(b.isEmptyObject(bw)){bK=bI.handle;if(bK){bK.elem=null}b.removeData(bJ,["events","handle"],true)}},customEvent:{getData:true,setData:true,changeData:true},trigger:function(bv,bD,bA,bJ){if(bA&&(bA.nodeType===3||bA.nodeType===8)){return}var bG=bv.type||bv,bx=[],e,bw,bC,bH,bz,by,bF,bE,bB,bI;if(T.test(bG+b.event.triggered)){return}if(bG.indexOf("!")>=0){bG=bG.slice(0,-1);bw=true}if(bG.indexOf(".")>=0){bx=bG.split(".");bG=bx.shift();bx.sort()}if((!bA||b.event.customEvent[bG])&&!b.event.global[bG]){return}bv=typeof bv==="object"?bv[b.expando]?bv:new b.Event(bG,bv):new b.Event(bG);bv.type=bG;bv.isTrigger=true;bv.exclusive=bw;bv.namespace=bx.join(".");bv.namespace_re=bv.namespace?new RegExp("(^|\\.)"+bx.join("\\.(?:.*\\.)?")+"(\\.|$)"):null;by=bG.indexOf(":")<0?"on"+bG:"";if(!bA){e=b.cache;for(bC in e){if(e[bC].events&&e[bC].events[bG]){b.event.trigger(bv,bD,e[bC].handle.elem,true)}}return}bv.result=L;if(!bv.target){bv.target=bA}bD=bD!=null?b.makeArray(bD):[];bD.unshift(bv);bF=b.event.special[bG]||{};if(bF.trigger&&bF.trigger.apply(bA,bD)===false){return}bB=[[bA,bF.bindType||bG]];if(!bJ&&!bF.noBubble&&!b.isWindow(bA)){bI=bF.delegateType||bG;bH=T.test(bI+bG)?bA:bA.parentNode;bz=null;for(;bH;bH=bH.parentNode){bB.push([bH,bI]);bz=bH}if(bz&&bz===bA.ownerDocument){bB.push([bz.defaultView||bz.parentWindow||bb,bI])}}for(bC=0;bC<bB.length&&!bv.isPropagationStopped();bC++){bH=bB[bC][0];bv.type=bB[bC][1];bE=(b._data(bH,"events")||{})[bv.type]&&b._data(bH,"handle");if(bE){bE.apply(bH,bD)}bE=by&&bH[by];if(bE&&b.acceptData(bH)&&bE.apply(bH,bD)===false){bv.preventDefault()}}bv.type=bG;if(!bJ&&!bv.isDefaultPrevented()){if((!bF._default||bF._default.apply(bA.ownerDocument,bD)===false)&&!(bG==="click"&&b.nodeName(bA,"a"))&&b.acceptData(bA)){if(by&&bA[bG]&&((bG!=="focus"&&bG!=="blur")||bv.target.offsetWidth!==0)&&!b.isWindow(bA)){bz=bA[by];if(bz){bA[by]=null}b.event.triggered=bG;bA[bG]();b.event.triggered=L;if(bz){bA[by]=bz}}}}return 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+/*!
+ * Sizzle CSS Selector Engine
+ *  Copyright 2011, The Dojo Foundation
+ *  Released under the MIT, BSD, and GPL Licenses.
+ *  More information: http://sizzlejs.com/
+ */
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bw=e.offsetTop,bv=e.offsetLeft;if(b.support.doesNotIncludeMarginInBodyOffset){bw+=parseFloat(b.css(e,"marginTop"))||0;bv+=parseFloat(b.css(e,"marginLeft"))||0}return{top:bw,left:bv}},setOffset:function(bx,bG,bA){var bB=b.css(bx,"position");if(bB==="static"){bx.style.position="relative"}var bz=b(bx),bv=bz.offset(),e=b.css(bx,"top"),bE=b.css(bx,"left"),bF=(bB==="absolute"||bB==="fixed")&&b.inArray("auto",[e,bE])>-1,bD={},bC={},bw,by;if(bF){bC=bz.position();bw=bC.top;by=bC.left}else{bw=parseFloat(e)||0;by=parseFloat(bE)||0}if(b.isFunction(bG)){bG=bG.call(bx,bA,bv)}if(bG.top!=null){bD.top=(bG.top-bv.top)+bw}if(bG.left!=null){bD.left=(bG.left-bv.left)+by}if("using" in bG){bG.using.call(bx,bD)}else{bz.css(bD)}}};b.fn.extend({position:function(){if(!this[0]){return null}var bw=this[0],bv=this.offsetParent(),bx=this.offset(),e=ad.test(bv[0].nodeName)?{top:0,left:0}:bv.offset();bx.top-=parseFloat(b.css(bw,"marginTop"))||0;bx.left-=parseFloat(b.css(bw,"marginLeft"))||0;e.top+=parseFloat(b.css(bv[0],"borderTopWidth"))||0;e.left+=parseFloat(b.css(bv[0],"borderLeftWidth"))||0;return{top:bx.top-e.top,left:bx.left-e.left}},offsetParent:function(){return this.map(function(){var e=this.offsetParent||av.body;while(e&&(!ad.test(e.nodeName)&&b.css(e,"position")==="static")){e=e.offsetParent}return e})}});b.each(["Left","Top"],function(bv,e){var bw="scroll"+e;b.fn[bw]=function(bz){var bx,by;if(bz===L){bx=this[0];if(!bx){return null}by=aK(bx);return by?("pageXOffset" in by)?by[bv?"pageYOffset":"pageXOffset"]:b.support.boxModel&&by.document.documentElement[bw]||by.document.body[bw]:bx[bw]}return this.each(function(){by=aK(this);if(by){by.scrollTo(!bv?bz:b(by).scrollLeft(),bv?bz:b(by).scrollTop())}else{this[bw]=bz}})}});function aK(e){return b.isWindow(e)?e:e.nodeType===9?e.defaultView||e.parentWindow:false}b.each(["Height","Width"],function(bv,e){var bw=e.toLowerCase();b.fn["inner"+e]=function(){var bx=this[0];return bx?bx.style?parseFloat(b.css(bx,bw,"padding")):this[bw]():null};b.fn["outer"+e]=function(by){var bx=this[0];return bx?bx.style?parseFloat(b.css(bx,bw,by?"margin":"border")):this[bw]():null};b.fn[bw]=function(bz){var bA=this[0];if(!bA){return bz==null?null:this}if(b.isFunction(bz)){return this.each(function(bE){var bD=b(this);bD[bw](bz.call(this,bE,bD[bw]()))})}if(b.isWindow(bA)){var bB=bA.document.documentElement["client"+e],bx=bA.document.body;return bA.document.compatMode==="CSS1Compat"&&bB||bx&&bx["client"+e]||bB}else{if(bA.nodeType===9){return Math.max(bA.documentElement["client"+e],bA.body["scroll"+e],bA.documentElement["scroll"+e],bA.body["offset"+e],bA.documentElement["offset"+e])}else{if(bz===L){var bC=b.css(bA,bw),by=parseFloat(bC);return b.isNumeric(by)?by:bC}else{return this.css(bw,typeof bz==="string"?bz:bz+"px")}}}}});bb.jQuery=bb.$=b;if(typeof define==="function"&&define.amd&&define.amd.jQuery){define("jquery",[],function(){return b})}})(window);/*!
+ * jQuery UI 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI
+ */
+(function(a,d){a.ui=a.ui||{};if(a.ui.version){return}a.extend(a.ui,{version:"1.8.18",keyCode:{ALT:18,BACKSPACE:8,CAPS_LOCK:20,COMMA:188,COMMAND:91,COMMAND_LEFT:91,COMMAND_RIGHT:93,CONTROL:17,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,INSERT:45,LEFT:37,MENU:93,NUMPAD_ADD:107,NUMPAD_DECIMAL:110,NUMPAD_DIVIDE:111,NUMPAD_ENTER:108,NUMPAD_MULTIPLY:106,NUMPAD_SUBTRACT:109,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SHIFT:16,SPACE:32,TAB:9,UP:38,WINDOWS:91}});a.fn.extend({propAttr:a.fn.prop||a.fn.attr,_focus:a.fn.focus,focus:function(e,f){return typeof e==="number"?this.each(function(){var g=this;setTimeout(function(){a(g).focus();if(f){f.call(g)}},e)}):this._focus.apply(this,arguments)},scrollParent:function(){var e;if((a.browser.msie&&(/(static|relative)/).test(this.css("position")))||(/absolute/).test(this.css("position"))){e=this.parents().filter(function(){return(/(relative|absolute|fixed)/).test(a.curCSS(this,"position",1))&&(/(auto|scroll)/).test(a.curCSS(this,"overflow",1)+a.curCSS(this,"overflow-y",1)+a.curCSS(this,"overflow-x",1))}).eq(0)}else{e=this.parents().filter(function(){return(/(auto|scroll)/).test(a.curCSS(this,"overflow",1)+a.curCSS(this,"overflow-y",1)+a.curCSS(this,"overflow-x",1))}).eq(0)}return(/fixed/).test(this.css("position"))||!e.length?a(document):e},zIndex:function(h){if(h!==d){return this.css("zIndex",h)}if(this.length){var f=a(this[0]),e,g;while(f.length&&f[0]!==document){e=f.css("position");if(e==="absolute"||e==="relative"||e==="fixed"){g=parseInt(f.css("zIndex"),10);if(!isNaN(g)&&g!==0){return g}}f=f.parent()}}return 0},disableSelection:function(){return this.bind((a.support.selectstart?"selectstart":"mousedown")+".ui-disableSelection",function(e){e.preventDefault()})},enableSelection:function(){return this.unbind(".ui-disableSelection")}});a.each(["Width","Height"],function(g,e){var f=e==="Width"?["Left","Right"]:["Top","Bottom"],h=e.toLowerCase(),k={innerWidth:a.fn.innerWidth,innerHeight:a.fn.innerHeight,outerWidth:a.fn.outerWidth,outerHeight:a.fn.outerHeight};function j(m,l,i,n){a.each(f,function(){l-=parseFloat(a.curCSS(m,"padding"+this,true))||0;if(i){l-=parseFloat(a.curCSS(m,"border"+this+"Width",true))||0}if(n){l-=parseFloat(a.curCSS(m,"margin"+this,true))||0}});return l}a.fn["inner"+e]=function(i){if(i===d){return k["inner"+e].call(this)}return this.each(function(){a(this).css(h,j(this,i)+"px")})};a.fn["outer"+e]=function(i,l){if(typeof i!=="number"){return k["outer"+e].call(this,i)}return this.each(function(){a(this).css(h,j(this,i,true,l)+"px")})}});function c(g,e){var j=g.nodeName.toLowerCase();if("area"===j){var i=g.parentNode,h=i.name,f;if(!g.href||!h||i.nodeName.toLowerCase()!=="map"){return false}f=a("img[usemap=#"+h+"]")[0];return !!f&&b(f)}return(/input|select|textarea|button|object/.test(j)?!g.disabled:"a"==j?g.href||e:e)&&b(g)}function b(e){return !a(e).parents().andSelf().filter(function(){return a.curCSS(this,"visibility")==="hidden"||a.expr.filters.hidden(this)}).length}a.extend(a.expr[":"],{data:function(g,f,e){return !!a.data(g,e[3])},focusable:function(e){return c(e,!isNaN(a.attr(e,"tabindex")))},tabbable:function(g){var e=a.attr(g,"tabindex"),f=isNaN(e);return(f||e>=0)&&c(g,!f)}});a(function(){var e=document.body,f=e.appendChild(f=document.createElement("div"));f.offsetHeight;a.extend(f.style,{minHeight:"100px",height:"auto",padding:0,borderWidth:0});a.support.minHeight=f.offsetHeight===100;a.support.selectstart="onselectstart" in f;e.removeChild(f).style.display="none"});a.extend(a.ui,{plugin:{add:function(f,g,j){var h=a.ui[f].prototype;for(var e in j){h.plugins[e]=h.plugins[e]||[];h.plugins[e].push([g,j[e]])}},call:function(e,g,f){var j=e.plugins[g];if(!j||!e.element[0].parentNode){return}for(var h=0;h<j.length;h++){if(e.options[j[h][0]]){j[h][1].apply(e.element,f)}}}},contains:function(f,e){return document.compareDocumentPosition?f.compareDocumentPosition(e)&16:f!==e&&f.contains(e)},hasScroll:function(h,f){if(a(h).css("overflow")==="hidden"){return false}var e=(f&&f==="left")?"scrollLeft":"scrollTop",g=false;if(h[e]>0){return true}h[e]=1;g=(h[e]>0);h[e]=0;return g},isOverAxis:function(f,e,g){return(f>e)&&(f<(e+g))},isOver:function(j,f,i,h,e,g){return a.ui.isOverAxis(j,i,e)&&a.ui.isOverAxis(f,h,g)}})})(jQuery);/*!
+ * jQuery UI Widget 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI/Widget
+ */
+(function(b,d){if(b.cleanData){var c=b.cleanData;b.cleanData=function(f){for(var g=0,h;(h=f[g])!=null;g++){try{b(h).triggerHandler("remove")}catch(j){}}c(f)}}else{var a=b.fn.remove;b.fn.remove=function(e,f){return this.each(function(){if(!f){if(!e||b.filter(e,[this]).length){b("*",this).add([this]).each(function(){try{b(this).triggerHandler("remove")}catch(g){}})}}return a.call(b(this),e,f)})}}b.widget=function(f,h,e){var g=f.split(".")[0],j;f=f.split(".")[1];j=g+"-"+f;if(!e){e=h;h=b.Widget}b.expr[":"][j]=function(k){return !!b.data(k,f)};b[g]=b[g]||{};b[g][f]=function(k,l){if(arguments.length){this._createWidget(k,l)}};var i=new h();i.options=b.extend(true,{},i.options);b[g][f].prototype=b.extend(true,i,{namespace:g,widgetName:f,widgetEventPrefix:b[g][f].prototype.widgetEventPrefix||f,widgetBaseClass:j},e);b.widget.bridge(f,b[g][f])};b.widget.bridge=function(f,e){b.fn[f]=function(i){var g=typeof i==="string",h=Array.prototype.slice.call(arguments,1),j=this;i=!g&&h.length?b.extend.apply(null,[true,i].concat(h)):i;if(g&&i.charAt(0)==="_"){return j}if(g){this.each(function(){var k=b.data(this,f),l=k&&b.isFunction(k[i])?k[i].apply(k,h):k;if(l!==k&&l!==d){j=l;return false}})}else{this.each(function(){var k=b.data(this,f);if(k){k.option(i||{})._init()}else{b.data(this,f,new e(i,this))}})}return j}};b.Widget=function(e,f){if(arguments.length){this._createWidget(e,f)}};b.Widget.prototype={widgetName:"widget",widgetEventPrefix:"",options:{disabled:false},_createWidget:function(f,g){b.data(g,this.widgetName,this);this.element=b(g);this.options=b.extend(true,{},this.options,this._getCreateOptions(),f);var e=this;this.element.bind("remove."+this.widgetName,function(){e.destroy()});this._create();this._trigger("create");this._init()},_getCreateOptions:function(){return b.metadata&&b.metadata.get(this.element[0])[this.widgetName]},_create:function(){},_init:function(){},destroy:function(){this.element.unbind("."+this.widgetName).removeData(this.widgetName);this.widget().unbind("."+this.widgetName).removeAttr("aria-disabled").removeClass(this.widgetBaseClass+"-disabled ui-state-disabled")},widget:function(){return this.element},option:function(f,g){var e=f;if(arguments.length===0){return b.extend({},this.options)}if(typeof f==="string"){if(g===d){return this.options[f]}e={};e[f]=g}this._setOptions(e);return this},_setOptions:function(f){var e=this;b.each(f,function(g,h){e._setOption(g,h)});return this},_setOption:function(e,f){this.options[e]=f;if(e==="disabled"){this.widget()[f?"addClass":"removeClass"](this.widgetBaseClass+"-disabled ui-state-disabled").attr("aria-disabled",f)}return this},enable:function(){return this._setOption("disabled",false)},disable:function(){return this._setOption("disabled",true)},_trigger:function(e,f,g){var j,i,h=this.options[e];g=g||{};f=b.Event(f);f.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase();f.target=this.element[0];i=f.originalEvent;if(i){for(j in i){if(!(j in f)){f[j]=i[j]}}}this.element.trigger(f,g);return !(b.isFunction(h)&&h.call(this.element[0],f,g)===false||f.isDefaultPrevented())}}})(jQuery);/*!
+ * jQuery UI Mouse 1.8.18
+ *
+ * Copyright 2011, AUTHORS.txt (http://jqueryui.com/about)
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ * http://jquery.org/license
+ *
+ * http://docs.jquery.com/UI/Mouse
+ *
+ * Depends:
+ *	jquery.ui.widget.js
+ */
+(function(b,c){var a=false;b(document).mouseup(function(d){a=false});b.widget("ui.mouse",{options:{cancel:":input,option",distance:1,delay:0},_mouseInit:function(){var d=this;this.element.bind("mousedown."+this.widgetName,function(e){return d._mouseDown(e)}).bind("click."+this.widgetName,function(e){if(true===b.data(e.target,d.widgetName+".preventClickEvent")){b.removeData(e.target,d.widgetName+".preventClickEvent");e.stopImmediatePropagation();return false}});this.started=false},_mouseDestroy:function(){this.element.unbind("."+this.widgetName)},_mouseDown:function(f){if(a){return}(this._mouseStarted&&this._mouseUp(f));this._mouseDownEvent=f;var e=this,g=(f.which==1),d=(typeof this.options.cancel=="string"&&f.target.nodeName?b(f.target).closest(this.options.cancel).length:false);if(!g||d||!this._mouseCapture(f)){return true}this.mouseDelayMet=!this.options.delay;if(!this.mouseDelayMet){this._mouseDelayTimer=setTimeout(function(){e.mouseDelayMet=true},this.options.delay)}if(this._mouseDistanceMet(f)&&this._mouseDelayMet(f)){this._mouseStarted=(this._mouseStart(f)!==false);if(!this._mouseStarted){f.preventDefault();return true}}if(true===b.data(f.target,this.widgetName+".preventClickEvent")){b.removeData(f.target,this.widgetName+".preventClickEvent")}this._mouseMoveDelegate=function(h){return e._mouseMove(h)};this._mouseUpDelegate=function(h){return e._mouseUp(h)};b(document).bind("mousemove."+this.widgetName,this._mouseMoveDelegate).bind("mouseup."+this.widgetName,this._mouseUpDelegate);f.preventDefault();a=true;return true},_mouseMove:function(d){if(b.browser.msie&&!(document.documentMode>=9)&&!d.button){return this._mouseUp(d)}if(this._mouseStarted){this._mouseDrag(d);return d.preventDefault()}if(this._mouseDistanceMet(d)&&this._mouseDelayMet(d)){this._mouseStarted=(this._mouseStart(this._mouseDownEvent,d)!==false);(this._mouseStarted?this._mouseDrag(d):this._mouseUp(d))}return !this._mouseStarted},_mouseUp:function(d){b(document).unbind("mousemove."+this.widgetName,this._mouseMoveDelegate).unbind("mouseup."+this.widgetName,this._mouseUpDelegate);if(this._mouseStarted){this._mouseStarted=false;if(d.target==this._mouseDownEvent.target){b.data(d.target,this.widgetName+".preventClickEvent",true)}this._mouseStop(d)}return false},_mouseDistanceMet:function(d){return(Math.max(Math.abs(this._mouseDownEvent.pageX-d.pageX),Math.abs(this._mouseDownEvent.pageY-d.pageY))>=this.options.distance)},_mouseDelayMet:function(d){return this.mouseDelayMet},_mouseStart:function(d){},_mouseDrag:function(d){},_mouseStop:function(d){},_mouseCapture:function(d){return true}})})(jQuery);(function(c,d){c.widget("ui.resizable",c.ui.mouse,{widgetEventPrefix:"resize",options:{alsoResize:false,animate:false,animateDuration:"slow",animateEasing:"swing",aspectRatio:false,autoHide:false,containment:false,ghost:false,grid:false,handles:"e,s,se",helper:false,maxHeight:null,maxWidth:null,minHeight:10,minWidth:10,zIndex:1000},_create:function(){var f=this,k=this.options;this.element.addClass("ui-resizable");c.extend(this,{_aspectRatio:!!(k.aspectRatio),aspectRatio:k.aspectRatio,originalElement:this.element,_proportionallyResizeElements:[],_helper:k.helper||k.ghost||k.animate?k.helper||"ui-resizable-helper":null});if(this.element[0].nodeName.match(/canvas|textarea|input|select|button|img/i)){this.element.wrap(c('<div class="ui-wrapper" style="overflow: hidden;"></div>').css({position:this.element.css("position"),width:this.element.outerWidth(),height:this.element.outerHeight(),top:this.element.css("top"),left:this.element.css("left")}));this.element=this.element.parent().data("resizable",this.element.data("resizable"));this.elementIsWrapper=true;this.element.css({marginLeft:this.originalElement.css("marginLeft"),marginTop:this.originalElement.css("marginTop"),marginRight:this.originalElement.css("marginRight"),marginBottom:this.originalElement.css("marginBottom")});this.originalElement.css({marginLeft:0,marginTop:0,marginRight:0,marginBottom:0});this.originalResizeStyle=this.originalElement.css("resize");this.originalElement.css("resize","none");this._proportionallyResizeElements.push(this.originalElement.css({position:"static",zoom:1,display:"block"}));this.originalElement.css({margin:this.originalElement.css("margin")});this._proportionallyResize()}this.handles=k.handles||(!c(".ui-resizable-handle",this.element).length?"e,s,se":{n:".ui-resizable-n",e:".ui-resizable-e",s:".ui-resizable-s",w:".ui-resizable-w",se:".ui-resizable-se",sw:".ui-resizable-sw",ne:".ui-resizable-ne",nw:".ui-resizable-nw"});if(this.handles.constructor==String){if(this.handles=="all"){this.handles="n,e,s,w,se,sw,ne,nw"}var l=this.handles.split(",");this.handles={};for(var g=0;g<l.length;g++){var j=c.trim(l[g]),e="ui-resizable-"+j;var h=c('<div class="ui-resizable-handle '+e+'"></div>');if(/sw|se|ne|nw/.test(j)){h.css({zIndex:++k.zIndex})}if("se"==j){h.addClass("ui-icon ui-icon-gripsmall-diagonal-se")}this.handles[j]=".ui-resizable-"+j;this.element.append(h)}}this._renderAxis=function(q){q=q||this.element;for(var n in this.handles){if(this.handles[n].constructor==String){this.handles[n]=c(this.handles[n],this.element).show()}if(this.elementIsWrapper&&this.originalElement[0].nodeName.match(/textarea|input|select|button/i)){var o=c(this.handles[n],this.element),p=0;p=/sw|ne|nw|se|n|s/.test(n)?o.outerHeight():o.outerWidth();var m=["padding",/ne|nw|n/.test(n)?"Top":/se|sw|s/.test(n)?"Bottom":/^e$/.test(n)?"Right":"Left"].join("");q.css(m,p);this._proportionallyResize()}if(!c(this.handles[n]).length){continue}}};this._renderAxis(this.element);this._handles=c(".ui-resizable-handle",this.element).disableSelection();this._handles.mouseover(function(){if(!f.resizing){if(this.className){var i=this.className.match(/ui-resizable-(se|sw|ne|nw|n|e|s|w)/i)}f.axis=i&&i[1]?i[1]:"se"}});if(k.autoHide){this._handles.hide();c(this.element).addClass("ui-resizable-autohide").hover(function(){if(k.disabled){return}c(this).removeClass("ui-resizable-autohide");f._handles.show()},function(){if(k.disabled){return}if(!f.resizing){c(this).addClass("ui-resizable-autohide");f._handles.hide()}})}this._mouseInit()},destroy:function(){this._mouseDestroy();var e=function(g){c(g).removeClass("ui-resizable ui-resizable-disabled ui-resizable-resizing").removeData("resizable").unbind(".resizable").find(".ui-resizable-handle").remove()};if(this.elementIsWrapper){e(this.element);var f=this.element;f.after(this.originalElement.css({position:f.css("position"),width:f.outerWidth(),height:f.outerHeight(),top:f.css("top"),left:f.css("left")})).remove()}this.originalElement.css("resize",this.originalResizeStyle);e(this.originalElement);return this},_mouseCapture:function(f){var g=false;for(var e in this.handles){if(c(this.handles[e])[0]==f.target){g=true}}return !this.options.disabled&&g},_mouseStart:function(g){var j=this.options,f=this.element.position(),e=this.element;this.resizing=true;this.documentScroll={top:c(document).scrollTop(),left:c(document).scrollLeft()};if(e.is(".ui-draggable")||(/absolute/).test(e.css("position"))){e.css({position:"absolute",top:f.top,left:f.left})}this._renderProxy();var k=b(this.helper.css("left")),h=b(this.helper.css("top"));if(j.containment){k+=c(j.containment).scrollLeft()||0;h+=c(j.containment).scrollTop()||0}this.offset=this.helper.offset();this.position={left:k,top:h};this.size=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalSize=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalPosition={left:k,top:h};this.sizeDiff={width:e.outerWidth()-e.width(),height:e.outerHeight()-e.height()};this.originalMousePosition={left:g.pageX,top:g.pageY};this.aspectRatio=(typeof j.aspectRatio=="number")?j.aspectRatio:((this.originalSize.width/this.originalSize.height)||1);var i=c(".ui-resizable-"+this.axis).css("cursor");c("body").css("cursor",i=="auto"?this.axis+"-resize":i);e.addClass("ui-resizable-resizing");this._propagate("start",g);return true},_mouseDrag:function(e){var h=this.helper,g=this.options,m={},q=this,j=this.originalMousePosition,n=this.axis;var r=(e.pageX-j.left)||0,p=(e.pageY-j.top)||0;var i=this._change[n];if(!i){return false}var l=i.apply(this,[e,r,p]),k=c.browser.msie&&c.browser.version<7,f=this.sizeDiff;this._updateVirtualBoundaries(e.shiftKey);if(this._aspectRatio||e.shiftKey){l=this._updateRatio(l,e)}l=this._respectSize(l,e);this._propagate("resize",e);h.css({top:this.position.top+"px",left:this.position.left+"px",width:this.size.width+"px",height:this.size.height+"px"});if(!this._helper&&this._proportionallyResizeElements.length){this._proportionallyResize()}this._updateCache(l);this._trigger("resize",e,this.ui());return false},_mouseStop:function(h){this.resizing=false;var i=this.options,m=this;if(this._helper){var g=this._proportionallyResizeElements,e=g.length&&(/textarea/i).test(g[0].nodeName),f=e&&c.ui.hasScroll(g[0],"left")?0:m.sizeDiff.height,k=e?0:m.sizeDiff.width;var n={width:(m.helper.width()-k),height:(m.helper.height()-f)},j=(parseInt(m.element.css("left"),10)+(m.position.left-m.originalPosition.left))||null,l=(parseInt(m.element.css("top"),10)+(m.position.top-m.originalPosition.top))||null;if(!i.animate){this.element.css(c.extend(n,{top:l,left:j}))}m.helper.height(m.size.height);m.helper.width(m.size.width);if(this._helper&&!i.animate){this._proportionallyResize()}}c("body").css("cursor","auto");this.element.removeClass("ui-resizable-resizing");this._propagate("stop",h);if(this._helper){this.helper.remove()}return false},_updateVirtualBoundaries:function(g){var j=this.options,i,h,f,k,e;e={minWidth:a(j.minWidth)?j.minWidth:0,maxWidth:a(j.maxWidth)?j.maxWidth:Infinity,minHeight:a(j.minHeight)?j.minHeight:0,maxHeight:a(j.maxHeight)?j.maxHeight:Infinity};if(this._aspectRatio||g){i=e.minHeight*this.aspectRatio;f=e.minWidth/this.aspectRatio;h=e.maxHeight*this.aspectRatio;k=e.maxWidth/this.aspectRatio;if(i>e.minWidth){e.minWidth=i}if(f>e.minHeight){e.minHeight=f}if(h<e.maxWidth){e.maxWidth=h}if(k<e.maxHeight){e.maxHeight=k}}this._vBoundaries=e},_updateCache:function(e){var f=this.options;this.offset=this.helper.offset();if(a(e.left)){this.position.left=e.left}if(a(e.top)){this.position.top=e.top}if(a(e.height)){this.size.height=e.height}if(a(e.width)){this.size.width=e.width}},_updateRatio:function(h,g){var i=this.options,j=this.position,f=this.size,e=this.axis;if(a(h.height)){h.width=(h.height*this.aspectRatio)}else{if(a(h.width)){h.height=(h.width/this.aspectRatio)}}if(e=="sw"){h.left=j.left+(f.width-h.width);h.top=null}if(e=="nw"){h.top=j.top+(f.height-h.height);h.left=j.left+(f.width-h.width)}return h},_respectSize:function(l,g){var j=this.helper,i=this._vBoundaries,r=this._aspectRatio||g.shiftKey,q=this.axis,t=a(l.width)&&i.maxWidth&&(i.maxWidth<l.width),m=a(l.height)&&i.maxHeight&&(i.maxHeight<l.height),h=a(l.width)&&i.minWidth&&(i.minWidth>l.width),s=a(l.height)&&i.minHeight&&(i.minHeight>l.height);if(h){l.width=i.minWidth}if(s){l.height=i.minHeight}if(t){l.width=i.maxWidth}if(m){l.height=i.maxHeight}var f=this.originalPosition.left+this.originalSize.width,p=this.position.top+this.size.height;var k=/sw|nw|w/.test(q),e=/nw|ne|n/.test(q);if(h&&k){l.left=f-i.minWidth}if(t&&k){l.left=f-i.maxWidth}if(s&&e){l.top=p-i.minHeight}if(m&&e){l.top=p-i.maxHeight}var n=!l.width&&!l.height;if(n&&!l.left&&l.top){l.top=null}else{if(n&&!l.top&&l.left){l.left=null}}return l},_proportionallyResize:function(){var k=this.options;if(!this._proportionallyResizeElements.length){return}var g=this.helper||this.element;for(var f=0;f<this._proportionallyResizeElements.length;f++){var h=this._proportionallyResizeElements[f];if(!this.borderDif){var e=[h.css("borderTopWidth"),h.css("borderRightWidth"),h.css("borderBottomWidth"),h.css("borderLeftWidth")],j=[h.css("paddingTop"),h.css("paddingRight"),h.css("paddingBottom"),h.css("paddingLeft")];this.borderDif=c.map(e,function(l,n){var m=parseInt(l,10)||0,o=parseInt(j[n],10)||0;return m+o})}if(c.browser.msie&&!(!(c(g).is(":hidden")||c(g).parents(":hidden").length))){continue}h.css({height:(g.height()-this.borderDif[0]-this.borderDif[2])||0,width:(g.width()-this.borderDif[1]-this.borderDif[3])||0})}},_renderProxy:function(){var f=this.element,i=this.options;this.elementOffset=f.offset();if(this._helper){this.helper=this.helper||c('<div style="overflow:hidden;"></div>');var e=c.browser.msie&&c.browser.version<7,g=(e?1:0),h=(e?2:-1);this.helper.addClass(this._helper).css({width:this.element.outerWidth()+h,height:this.element.outerHeight()+h,position:"absolute",left:this.elementOffset.left-g+"px",top:this.elementOffset.top-g+"px",zIndex:++i.zIndex});this.helper.appendTo("body").disableSelection()}else{this.helper=this.element}},_change:{e:function(g,f,e){return{width:this.originalSize.width+f}},w:function(h,f,e){var j=this.options,g=this.originalSize,i=this.originalPosition;return{left:i.left+f,width:g.width-f}},n:function(h,f,e){var j=this.options,g=this.originalSize,i=this.originalPosition;return{top:i.top+e,height:g.height-e}},s:function(g,f,e){return{height:this.originalSize.height+e}},se:function(g,f,e){return c.extend(this._change.s.apply(this,arguments),this._change.e.apply(this,[g,f,e]))},sw:function(g,f,e){return c.extend(this._change.s.apply(this,arguments),this._change.w.apply(this,[g,f,e]))},ne:function(g,f,e){return c.extend(this._change.n.apply(this,arguments),this._change.e.apply(this,[g,f,e]))},nw:function(g,f,e){return c.extend(this._change.n.apply(this,arguments),this._change.w.apply(this,[g,f,e]))}},_propagate:function(f,e){c.ui.plugin.call(this,f,[e,this.ui()]);(f!="resize"&&this._trigger(f,e,this.ui()))},plugins:{},ui:function(){return{originalElement:this.originalElement,element:this.element,helper:this.helper,position:this.position,size:this.size,originalSize:this.originalSize,originalPosition:this.originalPosition}}});c.extend(c.ui.resizable,{version:"1.8.18"});c.ui.plugin.add("resizable","alsoResize",{start:function(f,g){var e=c(this).data("resizable"),i=e.options;var h=function(j){c(j).each(function(){var k=c(this);k.data("resizable-alsoresize",{width:parseInt(k.width(),10),height:parseInt(k.height(),10),left:parseInt(k.css("left"),10),top:parseInt(k.css("top"),10)})})};if(typeof(i.alsoResize)=="object"&&!i.alsoResize.parentNode){if(i.alsoResize.length){i.alsoResize=i.alsoResize[0];h(i.alsoResize)}else{c.each(i.alsoResize,function(j){h(j)})}}else{h(i.alsoResize)}},resize:function(g,i){var f=c(this).data("resizable"),j=f.options,h=f.originalSize,l=f.originalPosition;var k={height:(f.size.height-h.height)||0,width:(f.size.width-h.width)||0,top:(f.position.top-l.top)||0,left:(f.position.left-l.left)||0},e=function(m,n){c(m).each(function(){var q=c(this),r=c(this).data("resizable-alsoresize"),p={},o=n&&n.length?n:q.parents(i.originalElement[0]).length?["width","height"]:["width","height","top","left"];c.each(o,function(s,u){var t=(r[u]||0)+(k[u]||0);if(t&&t>=0){p[u]=t||null}});q.css(p)})};if(typeof(j.alsoResize)=="object"&&!j.alsoResize.nodeType){c.each(j.alsoResize,function(m,n){e(m,n)})}else{e(j.alsoResize)}},stop:function(e,f){c(this).removeData("resizable-alsoresize")}});c.ui.plugin.add("resizable","animate",{stop:function(i,n){var p=c(this).data("resizable"),j=p.options;var h=p._proportionallyResizeElements,e=h.length&&(/textarea/i).test(h[0].nodeName),f=e&&c.ui.hasScroll(h[0],"left")?0:p.sizeDiff.height,l=e?0:p.sizeDiff.width;var g={width:(p.size.width-l),height:(p.size.height-f)},k=(parseInt(p.element.css("left"),10)+(p.position.left-p.originalPosition.left))||null,m=(parseInt(p.element.css("top"),10)+(p.position.top-p.originalPosition.top))||null;p.element.animate(c.extend(g,m&&k?{top:m,left:k}:{}),{duration:j.animateDuration,easing:j.animateEasing,step:function(){var o={width:parseInt(p.element.css("width"),10),height:parseInt(p.element.css("height"),10),top:parseInt(p.element.css("top"),10),left:parseInt(p.element.css("left"),10)};if(h&&h.length){c(h[0]).css({width:o.width,height:o.height})}p._updateCache(o);p._propagate("resize",i)}})}});c.ui.plugin.add("resizable","containment",{start:function(f,r){var t=c(this).data("resizable"),j=t.options,l=t.element;var g=j.containment,k=(g instanceof c)?g.get(0):(/parent/.test(g))?l.parent().get(0):g;if(!k){return}t.containerElement=c(k);if(/document/.test(g)||g==document){t.containerOffset={left:0,top:0};t.containerPosition={left:0,top:0};t.parentData={element:c(document),left:0,top:0,width:c(document).width(),height:c(document).height()||document.body.parentNode.scrollHeight}}else{var n=c(k),i=[];c(["Top","Right","Left","Bottom"]).each(function(p,o){i[p]=b(n.css("padding"+o))});t.containerOffset=n.offset();t.containerPosition=n.position();t.containerSize={height:(n.innerHeight()-i[3]),width:(n.innerWidth()-i[1])};var q=t.containerOffset,e=t.containerSize.height,m=t.containerSize.width,h=(c.ui.hasScroll(k,"left")?k.scrollWidth:m),s=(c.ui.hasScroll(k)?k.scrollHeight:e);t.parentData={element:k,left:q.left,top:q.top,width:h,height:s}}},resize:function(g,q){var t=c(this).data("resizable"),i=t.options,f=t.containerSize,p=t.containerOffset,m=t.size,n=t.position,r=t._aspectRatio||g.shiftKey,e={top:0,left:0},h=t.containerElement;if(h[0]!=document&&(/static/).test(h.css("position"))){e=p}if(n.left<(t._helper?p.left:0)){t.size.width=t.size.width+(t._helper?(t.position.left-p.left):(t.position.left-e.left));if(r){t.size.height=t.size.width/i.aspectRatio}t.position.left=i.helper?p.left:0}if(n.top<(t._helper?p.top:0)){t.size.height=t.size.height+(t._helper?(t.position.top-p.top):t.position.top);if(r){t.size.width=t.size.height*i.aspectRatio}t.position.top=t._helper?p.top:0}t.offset.left=t.parentData.left+t.position.left;t.offset.top=t.parentData.top+t.position.top;var l=Math.abs((t._helper?t.offset.left-e.left:(t.offset.left-e.left))+t.sizeDiff.width),s=Math.abs((t._helper?t.offset.top-e.top:(t.offset.top-p.top))+t.sizeDiff.height);var k=t.containerElement.get(0)==t.element.parent().get(0),j=/relative|absolute/.test(t.containerElement.css("position"));if(k&&j){l-=t.parentData.left}if(l+t.size.width>=t.parentData.width){t.size.width=t.parentData.width-l;if(r){t.size.height=t.size.width/t.aspectRatio}}if(s+t.size.height>=t.parentData.height){t.size.height=t.parentData.height-s;if(r){t.size.width=t.size.height*t.aspectRatio}}},stop:function(f,n){var q=c(this).data("resizable"),g=q.options,l=q.position,m=q.containerOffset,e=q.containerPosition,i=q.containerElement;var j=c(q.helper),r=j.offset(),p=j.outerWidth()-q.sizeDiff.width,k=j.outerHeight()-q.sizeDiff.height;if(q._helper&&!g.animate&&(/relative/).test(i.css("position"))){c(this).css({left:r.left-e.left-m.left,width:p,height:k})}if(q._helper&&!g.animate&&(/static/).test(i.css("position"))){c(this).css({left:r.left-e.left-m.left,width:p,height:k})}}});c.ui.plugin.add("resizable","ghost",{start:function(g,h){var e=c(this).data("resizable"),i=e.options,f=e.size;e.ghost=e.originalElement.clone();e.ghost.css({opacity:0.25,display:"block",position:"relative",height:f.height,width:f.width,margin:0,left:0,top:0}).addClass("ui-resizable-ghost").addClass(typeof i.ghost=="string"?i.ghost:"");e.ghost.appendTo(e.helper)},resize:function(f,g){var e=c(this).data("resizable"),h=e.options;if(e.ghost){e.ghost.css({position:"relative",height:e.size.height,width:e.size.width})}},stop:function(f,g){var e=c(this).data("resizable"),h=e.options;if(e.ghost&&e.helper){e.helper.get(0).removeChild(e.ghost.get(0))}}});c.ui.plugin.add("resizable","grid",{resize:function(e,m){var p=c(this).data("resizable"),h=p.options,k=p.size,i=p.originalSize,j=p.originalPosition,n=p.axis,l=h._aspectRatio||e.shiftKey;h.grid=typeof h.grid=="number"?[h.grid,h.grid]:h.grid;var g=Math.round((k.width-i.width)/(h.grid[0]||1))*(h.grid[0]||1),f=Math.round((k.height-i.height)/(h.grid[1]||1))*(h.grid[1]||1);if(/^(se|s|e)$/.test(n)){p.size.width=i.width+g;p.size.height=i.height+f}else{if(/^(ne)$/.test(n)){p.size.width=i.width+g;p.size.height=i.height+f;p.position.top=j.top-f}else{if(/^(sw)$/.test(n)){p.size.width=i.width+g;p.size.height=i.height+f;p.position.left=j.left-g}else{p.size.width=i.width+g;p.size.height=i.height+f;p.position.top=j.top-f;p.position.left=j.left-g}}}}});var b=function(e){return parseInt(e,10)||0};var a=function(e){return !isNaN(parseInt(e,10))}})(jQuery);/*!
+ * jQuery hashchange event - v1.3 - 7/21/2010
+ * http://benalman.com/projects/jquery-hashchange-plugin/
+ * 
+ * Copyright (c) 2010 "Cowboy" Ben Alman
+ * Dual licensed under the MIT and GPL licenses.
+ * http://benalman.com/about/license/
+ */
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o=a(this);if(o.dataSM("scroll-arrows")){o.dataSM("scroll-arrows").remove()}if(o.dataSM("shown-before")){if(l.opts.subMenusMinWidth||l.opts.subMenusMaxWidth){o.css({width:"",minWidth:"",maxWidth:""}).removeClass("sm-nowrap")}if(o.dataSM("scroll-arrows")){o.dataSM("scroll-arrows").remove()}o.css({zIndex:"",top:"",left:"",marginLeft:"",marginTop:"",display:""})}if((o.attr("id")||"").indexOf(l.accessIdPrefix)==0){o.removeAttr("id")}}).removeDataSM("in-mega").removeDataSM("shown-before").removeDataSM("ie-shim").removeDataSM("scroll-arrows").removeDataSM("parent-a").removeDataSM("level").removeDataSM("beforefirstshowfired").removeAttr("role").removeAttr("aria-hidden").removeAttr("aria-labelledby").removeAttr("aria-expanded");this.$root.find("a.has-submenu").each(function(){var o=a(this);if(o.attr("id").indexOf(l.accessIdPrefix)==0){o.removeAttr("id")}}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub");if(this.opts.subIndicators){this.$root.find("span.sub-arrow").remove()}if(this.opts.markCurrentItem){this.$root.find("a.current").removeClass("current")}if(!m){this.$root=null;this.$firstLink=null;this.$firstSub=null;if(this.$disableOverlay){this.$disableOverlay.remove();this.$disableOverlay=null}b.splice(a.inArray(this,b),1)}},disable:function(l){if(!this.disabled){this.menuHideAll();if(!l&&!this.opts.isPopup&&this.$root.is(":visible")){var m=this.$root.offset();this.$disableOverlay=a('<div class="sm-jquery-disable-overlay"/>').css({position:"absolute",top:m.top,left:m.left,width:this.$root.outerWidth(),height:this.$root.outerHeight(),zIndex:this.getStartZIndex(true),opacity:0}).appendTo(document.body)}this.disabled=true}},docClick:function(l){if(this.$touchScrollingSub){this.$touchScrollingSub=null;return}if(this.visibleSubMenus.length&&!a.contains(this.$root[0],l.target)||a(l.target).is("a")){this.menuHideAll()}},docTouchEnd:function(m){if(!this.lastTouch){return}if(this.visibleSubMenus.length&&(this.lastTouch.x2===undefined||this.lastTouch.x1==this.lastTouch.x2)&&(this.lastTouch.y2===undefined||this.lastTouch.y1==this.lastTouch.y2)&&(!this.lastTouch.target||!a.contains(this.$root[0],this.lastTouch.target))){if(this.hideTimeout){clearTimeout(this.hideTimeout);this.hideTimeout=0}var l=this;this.hideTimeout=setTimeout(function(){l.menuHideAll()},350)}this.lastTouch=null},docTouchMove:function(m){if(!this.lastTouch){return}var l=m.originalEvent.touches[0];this.lastTouch.x2=l.pageX;this.lastTouch.y2=l.pageY},docTouchStart:function(m){var l=m.originalEvent.touches[0];this.lastTouch={x1:l.pageX,y1:l.pageY,target:l.target}},enable:function(){if(this.disabled){if(this.$disableOverlay){this.$disableOverlay.remove();this.$disableOverlay=null}this.disabled=false}},getClosestMenu:function(m){var l=a(m).closest("ul");while(l.dataSM("in-mega")){l=l.parent().closest("ul")}return l[0]||null},getHeight:function(l){return this.getOffset(l,true)},getOffset:function(n,l){var m;if(n.css("display")=="none"){m={position:n[0].style.position,visibility:n[0].style.visibility};n.css({position:"absolute",visibility:"hidden"}).show()}var o=n[0].getBoundingClientRect&&n[0].getBoundingClientRect(),p=o&&(l?o.height||o.bottom-o.top:o.width||o.right-o.left);if(!p&&p!==0){p=l?n[0].offsetHeight:n[0].offsetWidth}if(m){n.hide().css(m)}return p},getStartZIndex:function(l){var m=parseInt(this[l?"$root":"$firstSub"].css("z-index"));if(!l&&isNaN(m)){m=parseInt(this.$root.css("z-index"))}return !isNaN(m)?m:1},getTouchPoint:function(l){return l.touches&&l.touches[0]||l.changedTouches&&l.changedTouches[0]||l},getViewport:function(l){var m=l?"Height":"Width",o=document.documentElement["client"+m],n=window["inner"+m];if(n){o=Math.min(o,n)}return o},getViewportHeight:function(){return this.getViewport(true)},getViewportWidth:function(){return this.getViewport()},getWidth:function(l){return this.getOffset(l)},handleEvents:function(){return !this.disabled&&this.isCSSOn()},handleItemEvents:function(l){return this.handleEvents()&&!this.isLinkInMegaMenu(l)},isCollapsible:function(){return this.$firstSub.css("position")=="static"},isCSSOn:function(){return this.$firstLink.css("display")=="block"},isFixed:function(){var l=this.$root.css("position")=="fixed";if(!l){this.$root.parentsUntil("body").each(function(){if(a(this).css("position")=="fixed"){l=true;return false}})}return l},isLinkInMegaMenu:function(l){return a(this.getClosestMenu(l[0])).hasClass("mega-menu")},isTouchMode:function(){return !f||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(p,l){var n=p.closest("ul"),q=n.dataSM("level");if(q>1&&(!this.activatedItems[q-2]||this.activatedItems[q-2][0]!=n.dataSM("parent-a")[0])){var m=this;a(n.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(n).each(function(){m.itemActivate(a(this).dataSM("parent-a"))})}if(!this.isCollapsible()||l){this.menuHideSubMenus(!this.activatedItems[q-1]||this.activatedItems[q-1][0]!=p[0]?q-1:q)}this.activatedItems[q-1]=p;if(this.$root.triggerHandler("activate.smapi",p[0])===false){return}var o=p.dataSM("sub");if(o&&(this.isTouchMode()||(!this.opts.showOnClick||this.clickActivated))){this.menuShow(o)}},itemBlur:function(m){var l=a(m.currentTarget);if(!this.handleItemEvents(l)){return}this.$root.triggerHandler("blur.smapi",l[0])},itemClick:function(o){var n=a(o.currentTarget);if(!this.handleItemEvents(n)){return}if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==n.closest("ul")[0]){this.$touchScrollingSub=null;o.stopPropagation();return false}if(this.$root.triggerHandler("click.smapi",n[0])===false){return false}var p=a(o.target).is("span.sub-arrow"),m=n.dataSM("sub"),l=m?m.dataSM("level")==2:false;if(m&&!m.is(":visible")){if(this.opts.showOnClick&&l){this.clickActivated=true}this.itemActivate(n);if(m.is(":visible")){this.focusActivated=true;return false}}else{if(this.isCollapsible()&&p){this.itemActivate(n);this.menuHide(m);return false}}if(this.opts.showOnClick&&l||n.hasClass("disabled")||this.$root.triggerHandler("select.smapi",n[0])===false){return false}},itemDown:function(m){var l=a(m.currentTarget);if(!this.handleItemEvents(l)){return}l.dataSM("mousedown",true)},itemEnter:function(n){var m=a(n.currentTarget);if(!this.handleItemEvents(m)){return}if(!this.isTouchMode()){if(this.showTimeout){clearTimeout(this.showTimeout);this.showTimeout=0}var l=this;this.showTimeout=setTimeout(function(){l.itemActivate(m)},this.opts.showOnClick&&m.closest("ul").dataSM("level")==1?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",m[0])},itemFocus:function(m){var l=a(m.currentTarget);if(!this.handleItemEvents(l)){return}if(this.focusActivated&&(!this.isTouchMode()||!l.dataSM("mousedown"))&&(!this.activatedItems.length||this.activatedItems[this.activatedItems.length-1][0]!=l[0])){this.itemActivate(l,true)}this.$root.triggerHandler("focus.smapi",l[0])},itemLeave:function(m){var l=a(m.currentTarget);if(!this.handleItemEvents(l)){return}if(!this.isTouchMode()){l[0].blur();if(this.showTimeout){clearTimeout(this.showTimeout);this.showTimeout=0}}l.removeDataSM("mousedown");this.$root.triggerHandler("mouseleave.smapi",l[0])},menuHide:function(m){if(this.$root.triggerHandler("beforehide.smapi",m[0])===false){return}m.stop(true,true);if(m.css("display")!="none"){var l=function(){m.css("z-index","")};if(this.isCollapsible()){if(this.opts.collapsibleHideFunction){this.opts.collapsibleHideFunction.call(this,m,l)}else{m.hide(this.opts.collapsibleHideDuration,l)}}else{if(this.opts.hideFunction){this.opts.hideFunction.call(this,m,l)}else{m.hide(this.opts.hideDuration,l)}}if(m.dataSM("ie-shim")){m.dataSM("ie-shim").remove().css({"-webkit-transform":"",transform:""})}if(m.dataSM("scroll")){this.menuScrollStop(m);m.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).unbind(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()}m.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false");m.attr({"aria-expanded":"false","aria-hidden":"true"});var n=m.dataSM("level");this.activatedItems.splice(n-1,1);this.visibleSubMenus.splice(a.inArray(m,this.visibleSubMenus),1);this.$root.triggerHandler("hide.smapi",m[0])}},menuHideAll:function(){if(this.showTimeout){clearTimeout(this.showTimeout);this.showTimeout=0}var m=this.opts.isPopup?1:0;for(var l=this.visibleSubMenus.length-1;l>=m;l--){this.menuHide(this.visibleSubMenus[l])}if(this.opts.isPopup){this.$root.stop(true,true);if(this.$root.is(":visible")){if(this.opts.hideFunction){this.opts.hideFunction.call(this,this.$root)}else{this.$root.hide(this.opts.hideDuration)}if(this.$root.dataSM("ie-shim")){this.$root.dataSM("ie-shim").remove()}}}this.activatedItems=[];this.visibleSubMenus=[];this.clickActivated=false;this.focusActivated=false;this.zIndexInc=0;this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(n){for(var l=this.activatedItems.length-1;l>=n;l--){var m=this.activatedItems[l].dataSM("sub");if(m){this.menuHide(m)}}},menuIframeShim:function(l){if(e&&this.opts.overlapControlsInIE&&!l.dataSM("ie-shim")){l.dataSM("ie-shim",a("<iframe/>").attr({src:"javascript:0",tabindex:-9}).css({position:"absolute",top:"auto",left:"0",opacity:0,border:"0"}))}},menuInit:function(l){if(!l.dataSM("in-mega")){if(l.hasClass("mega-menu")){l.find("ul").dataSM("in-mega",true)}var q=2,m=l[0];while((m=m.parentNode.parentNode)!=this.$root[0]){q++}var n=l.prevAll("a").eq(-1);if(!n.length){n=l.prevAll().find("a").eq(-1)}n.addClass("has-submenu").dataSM("sub",l);l.dataSM("parent-a",n).dataSM("level",q).parent().dataSM("sub",l);var o=n.attr("id")||this.accessIdPrefix+(++this.idInc),p=l.attr("id")||this.accessIdPrefix+(++this.idInc);n.attr({id:o,"aria-haspopup":"true","aria-controls":p,"aria-expanded":"false"});l.attr({id:p,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"});if(this.opts.subIndicators){n[this.opts.subIndicatorsPos](this.$subArrow.clone())}}},menuPosition:function(K){var r=K.dataSM("parent-a"),D=r.closest("li"),E=D.parent(),l=K.dataSM("level"),t=this.getWidth(K),J=this.getHeight(K),u=r.offset(),o=u.left,m=u.top,q=this.getWidth(r),F=this.getHeight(r),H=a(window),v=H.scrollLeft(),s=H.scrollTop(),z=this.getViewportWidth(),L=this.getViewportHeight(),w=E.parent().is("[data-sm-horizontal-sub]")||l==2&&!E.hasClass("sm-vertical"),B=this.opts.rightToLeftSubMenus&&!D.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&D.is("[data-sm-reverse]"),p=l==2?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,n=l==2?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY,C,A;if(w){C=B?q-t-p:p;A=this.opts.bottomToTopSubMenus?-J-n:F+n}else{C=B?p-t:q-p;A=this.opts.bottomToTopSubMenus?F-n-J:n}if(this.opts.keepInViewport){var N=o+C,M=m+A;if(B&&N<v){C=w?v-N+C:q-p}else{if(!B&&N+t>v+z){C=w?v+z-t-N+C:p-t}}if(!w){if(J<L&&M+J>s+L){A+=s+L-J-M}else{if(J>=L||M<s){A+=s-M}}}if(w&&(M+J>s+L+0.49||M<s)||!w&&J>L+0.49){var G=this;if(!K.dataSM("scroll-arrows")){K.dataSM("scroll-arrows",a([a('<span class="scroll-up"><span class="scroll-up-arrow"></span></span>')[0],a('<span class="scroll-down"><span class="scroll-down-arrow"></span></span>')[0]]).bind({mouseenter:function(){K.dataSM("scroll").up=a(this).hasClass("scroll-up");G.menuScroll(K)},mouseleave:function(x){G.menuScrollStop(K);G.menuScrollOut(K,x)},"mousewheel DOMMouseScroll":function(x){x.preventDefault()}}).insertAfter(K))}var I=".smartmenus_scroll";K.dataSM("scroll",{y:this.cssTransforms3d?0:A-F,step:1,itemH:F,subH:J,arrowDownH:this.getHeight(K.dataSM("scroll-arrows").eq(1))}).bind(i([["mouseover",function(x){G.menuScrollOver(K,x)}],["mouseout",function(x){G.menuScrollOut(K,x)}],["mousewheel DOMMouseScroll",function(x){G.menuScrollMousewheel(K,x)}]],I)).dataSM("scroll-arrows").css({top:"auto",left:"0",marginLeft:C+(parseInt(K.css("border-left-width"))||0),width:t-(parseInt(K.css("border-left-width"))||0)-(parseInt(K.css("border-right-width"))||0),zIndex:K.css("z-index")}).eq(w&&this.opts.bottomToTopSubMenus?0:1).show();if(this.isFixed()){K.css({"touch-action":"none","-ms-touch-action":"none"}).bind(i([[d?"touchstart touchmove touchend":"pointerdown pointermove pointerup MSPointerDown MSPointerMove MSPointerUp",function(x){G.menuScrollTouch(K,x)}]],I))}}}K.css({top:"auto",left:"0",marginLeft:C,marginTop:A-F});this.menuIframeShim(K);if(K.dataSM("ie-shim")){K.dataSM("ie-shim").css({zIndex:K.css("z-index"),width:t,height:J,marginLeft:C,marginTop:A-F})}},menuScroll:function(r,m,n){var p=r.dataSM("scroll"),q=r.dataSM("scroll-arrows"),o=p.up?p.upEnd:p.downEnd,s;if(!m&&p.momentum){p.momentum*=0.92;s=p.momentum;if(s<0.5){this.menuScrollStop(r);return}}else{s=n||(m||!this.opts.scrollAccelerate?this.opts.scrollStep:Math.floor(p.step))}var l=r.dataSM("level");if(this.activatedItems[l-1]&&this.activatedItems[l-1].dataSM("sub")&&this.activatedItems[l-1].dataSM("sub").is(":visible")){this.menuHideSubMenus(l-1)}p.y=p.up&&o<=p.y||!p.up&&o>=p.y?p.y:(Math.abs(o-p.y)>s?p.y+(p.up?s:-s):o);r.add(r.dataSM("ie-shim")).css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+p.y+"px, 0)",transform:"translate3d(0, "+p.y+"px, 0)"}:{marginTop:p.y});if(f&&(p.up&&p.y>p.downEnd||!p.up&&p.y<p.upEnd)){q.eq(p.up?1:0).show()}if(p.y==o){if(f){q.eq(p.up?0:1).hide()}this.menuScrollStop(r)}else{if(!m){if(this.opts.scrollAccelerate&&p.step<this.opts.scrollStep){p.step+=0.2}var t=this;this.scrollTimeout=g(function(){t.menuScroll(r)})}}},menuScrollMousewheel:function(m,n){if(this.getClosestMenu(n.target)==m[0]){n=n.originalEvent;var l=(n.wheelDelta||-n.detail)>0;if(m.dataSM("scroll-arrows").eq(l?0:1).is(":visible")){m.dataSM("scroll").up=l;this.menuScroll(m,true)}}n.preventDefault()},menuScrollOut:function(l,m){if(f){if(!/^scroll-(up|down)/.test((m.relatedTarget||"").className)&&(l[0]!=m.relatedTarget&&!a.contains(l[0],m.relatedTarget)||this.getClosestMenu(m.relatedTarget)!=l[0])){l.dataSM("scroll-arrows").css("visibility","hidden")}}},menuScrollOver:function(n,o){if(f){if(!/^scroll-(up|down)/.test(o.target.className)&&this.getClosestMenu(o.target)==n[0]){this.menuScrollRefreshData(n);var m=n.dataSM("scroll"),l=a(window).scrollTop()-n.dataSM("parent-a").offset().top-m.itemH;n.dataSM("scroll-arrows").eq(0).css("margin-top",l).end().eq(1).css("margin-top",l+this.getViewportHeight()-m.arrowDownH).end().css("visibility","visible")}}},menuScrollRefreshData:function(n){var m=n.dataSM("scroll"),l=a(window).scrollTop()-n.dataSM("parent-a").offset().top-m.itemH;if(this.cssTransforms3d){l=-(parseFloat(n.css("margin-top"))-l)}a.extend(m,{upEnd:l,downEnd:l+this.getViewportHeight()-m.subH})},menuScrollStop:function(l){if(this.scrollTimeout){c(this.scrollTimeout);this.scrollTimeout=0;l.dataSM("scroll").step=1;return true}},menuScrollTouch:function(p,q){q=q.originalEvent;if(j(q)){var m=this.getTouchPoint(q);if(this.getClosestMenu(m.target)==p[0]){var o=p.dataSM("scroll");if(/(start|down)$/i.test(q.type)){if(this.menuScrollStop(p)){q.preventDefault();this.$touchScrollingSub=p}else{this.$touchScrollingSub=null}this.menuScrollRefreshData(p);a.extend(o,{touchStartY:m.pageY,touchStartTime:q.timeStamp})}else{if(/move$/i.test(q.type)){var n=o.touchY!==undefined?o.touchY:o.touchStartY;if(n!==undefined&&n!=m.pageY){this.$touchScrollingSub=p;var l=n<m.pageY;if(o.up!==undefined&&o.up!=l){a.extend(o,{touchStartY:m.pageY,touchStartTime:q.timeStamp})}a.extend(o,{up:l,touchY:m.pageY});this.menuScroll(p,true,Math.abs(m.pageY-n))}q.preventDefault()}else{if(o.touchY!==undefined){if(o.momentum=Math.pow(Math.abs(m.pageY-o.touchStartY)/(q.timeStamp-o.touchStartTime),2)*15){this.menuScrollStop(p);this.menuScroll(p);q.preventDefault()}delete o.touchY}}}}}},menuShow:function(n){if(!n.dataSM("beforefirstshowfired")){n.dataSM("beforefirstshowfired",true);if(this.$root.triggerHandler("beforefirstshow.smapi",n[0])===false){return}}if(this.$root.triggerHandler("beforeshow.smapi",n[0])===false){return}n.dataSM("shown-before",true).stop(true,true);if(!n.is(":visible")){var m=n.dataSM("parent-a");if(this.opts.keepHighlighted||this.isCollapsible()){m.addClass("highlighted")}if(this.isCollapsible()){n.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""})}else{n.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1);if(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth){n.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap");if(this.opts.subMenusMinWidth){n.css("min-width",this.opts.subMenusMinWidth)}if(this.opts.subMenusMaxWidth){var o=this.getWidth(n);n.css("max-width",this.opts.subMenusMaxWidth);if(o>this.getWidth(n)){n.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}}}this.menuPosition(n);if(n.dataSM("ie-shim")){n.dataSM("ie-shim").insertBefore(n)}}var l=function(){n.css("overflow","")};if(this.isCollapsible()){if(this.opts.collapsibleShowFunction){this.opts.collapsibleShowFunction.call(this,n,l)}else{n.show(this.opts.collapsibleShowDuration,l)}}else{if(this.opts.showFunction){this.opts.showFunction.call(this,n,l)}else{n.show(this.opts.showDuration,l)}}m.attr("aria-expanded","true");n.attr({"aria-expanded":"true","aria-hidden":"false"});this.visibleSubMenus.push(n);this.$root.triggerHandler("show.smapi",n[0])}},popupHide:function(l){if(this.hideTimeout){clearTimeout(this.hideTimeout);this.hideTimeout=0}var m=this;this.hideTimeout=setTimeout(function(){m.menuHideAll()},l?1:this.opts.hideTimeout)},popupShow:function(o,n){if(!this.opts.isPopup){alert('SmartMenus jQuery Error:\n\nIf you want to show 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new file mode 100644
index 0000000..97db4c2
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/menu.js
@@ -0,0 +1,26 @@
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+  function makeTree(data,relPath) {
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+    if ('children' in data) {
+      result+='<ul>';
+      for (var i in data.children) {
+        result+='<li><a href="'+relPath+data.children[i].url+'">'+
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+                                makeTree(data.children[i],relPath)+'</li>';
+      }
+      result+='</ul>';
+    }
+    return result;
+  }
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+  $('#main-nav').append(makeTree(menudata,relPath));
+  $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
+  if (searchEnabled) {
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+    } else {
+      $('#main-menu').append('<li style="float:right"><div id="MSearchBox" class="MSearchBoxInactive"><span class="left"><img id="MSearchSelect" src="'+relPath+'search/mag_sel.png" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" alt=""/><input type="text" id="MSearchField" value="'+search+'" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" onblur="searchBox.OnSearchFieldFocus(false)" onkeyup="searchBox.OnSearchFieldChange(event)"/></span><span class="right"><a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="'+relPath+'search/close.png" alt=""/></a></span></div></li>');
+    }
+  }
+  $('#main-menu').smartmenus();
+}
diff --git a/src/Robot/UnitreecameraSDK/doc/html/menudata.js b/src/Robot/UnitreecameraSDK/doc/html/menudata.js
new file mode 100644
index 0000000..5860eec
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/menudata.js
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+var menudata={children:[
+{text:"Main Page",url:"index.html"}]}
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+<meta name="generator" content="Doxygen 1.8.13"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<script type="text/javascript" src="jquery.js"></script>
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+   <div id="projectbrief">unitree stereo camra apis</div>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_d28a4824dc47e487b107a5db32ef43c4.html">examples</a></li><li class="navelem"><a class="el" href="dir_8d5e63337d9bc0375b6fa20fd80d83ec.html">glViewer</a></li>  </ul>
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+<div class="title">scenewindow.hpp</div>  </div>
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+<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;glwindow.hpp&quot;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceglwindow.html">glwindow</a></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;{</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classglwindow_1_1_scene_window.html">   10</a></span>&#160; 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+    border: none;
+    margin: 0px 4px 0px 0px;
+    padding: 0px 0px;
+    outline: none;
+}
+
+.left #MSearchClose {
+    left: 6px;
+}
+
+.right #MSearchClose {
+    right: 2px;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: #000000;
+}
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #90A5CE;
+    background-color: #F9FAFC;
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt Arial, Verdana, sans-serif;
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: monospace;
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: #000000; 
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: #000000; 
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: #FFFFFF;
+    background-color: #3D578C;
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    width: 60ex;
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid #000;
+    background-color: #EEF1F7;
+    z-index:10000;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+    padding-bottom: 15px;
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+body.SRPage {
+    margin: 5px 2px;
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold; 
+    color: #425E97;
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: #425E97; 
+    font-family: Arial, Verdana, sans-serif;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+}
+
+.SRResult {
+    display: none;
+}
+
+DIV.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.searchresult {
+    background-color: #F0F3F8;
+}
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: url("../tab_a.png");
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/src/Robot/UnitreecameraSDK/doc/html/search/search.js b/src/Robot/UnitreecameraSDK/doc/html/search/search.js
new file mode 100644
index 0000000..dedce3b
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/html/search/search.js
@@ -0,0 +1,791 @@
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, inFrame, label)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.insideFrame           = inFrame;
+  this.searchLabel           = label;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    if (this.insideFrame)
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      left += searchField.offsetWidth + 6;
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      left -= searchSelectWindow.offsetWidth;
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+    else
+    {
+      var left = getXPos(searchField);
+      var top  = getYPos(searchField);
+      top += searchField.offsetHeight;
+
+      // show search selection popup
+      searchSelectWindow.style.display='block';
+      searchSelectWindow.style.left =  left + 'px';
+      searchSelectWindow.style.top  =  top  + 'px';
+    }
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.name +".CloseSelectionWindow()",
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else if (window.frames.MSearchResults.searchResults)
+      {
+        var elem = window.frames.MSearchResults.searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.name + '.Search()',
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var resultsPage;
+    var resultsPageWithSearch;
+    var hasResultsPage;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html';
+       resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
+       hasResultsPage = true;
+    }
+    else // nothing available for this search term
+    {
+       resultsPage = this.resultsPath + '/nomatches.html';
+       resultsPageWithSearch = resultsPage;
+       hasResultsPage = false;
+    }
+
+    window.frames.MSearchResults.location = resultsPageWithSearch;
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+
+    if (domPopupSearchResultsWindow.style.display!='block')
+    {
+       var domSearchBox = this.DOMSearchBox();
+       this.DOMSearchClose().style.display = 'inline';
+       if (this.insideFrame)
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         domPopupSearchResultsWindow.style.position = 'relative';
+         domPopupSearchResultsWindow.style.display  = 'block';
+         var width = document.body.clientWidth - 8; // the -8 is for IE :-(
+         domPopupSearchResultsWindow.style.width    = width + 'px';
+         domPopupSearchResults.style.width          = width + 'px';
+       }
+       else
+       {
+         var domPopupSearchResults = this.DOMPopupSearchResults();
+         var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
+         var top  = getYPos(domSearchBox) + 20;  // domSearchBox.offsetHeight + 1;
+         domPopupSearchResultsWindow.style.display = 'block';
+         left -= domPopupSearchResults.offsetWidth;
+         domPopupSearchResultsWindow.style.top     = top  + 'px';
+         domPopupSearchResultsWindow.style.left    = left + 'px';
+       }
+    }
+
+    this.lastSearchValue = searchValue;
+    this.lastResultsPage = resultsPage;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+
+      var searchField = this.DOMSearchField();
+
+      if (searchField.value == this.searchLabel) // clear "Search" term upon entry
+      {
+        searchField.value = '';
+        this.searchActive = true;
+      }
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.DOMSearchField().value   = this.searchLabel;
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName == 'DIV' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName == 'DIV' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown")
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           parent.document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem && elem.style.display == 'block') // children visible
+        {
+          focusItem = document.getElementById('Item'+itemIndex+'_c0');
+        }
+        if (!focusItem) focusItem = this.NavNext(newIndex);
+        if (focusItem)  focusItem.focus();
+      }
+      else if (this.lastKey==39) // Right
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'block';
+      }
+      else if (this.lastKey==37) // Left
+      {
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>~SystemState</b>() (defined in <a class="el" href="struct_g_l_window_1_1_system_state.html">glwindow::GLWindow::SystemState</a>)</td><td class="entry"><a class="el" href="struct_g_l_window_1_1_system_state.html">glwindow::GLWindow::SystemState</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>examples/glViewer/glwindow_x11.cpp</li>
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+</div><!-- contents -->
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.8.13 -->
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+</a> 1.8.13
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+<script type="text/javascript" src="menu.js"></script>
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+$(function() {
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+  $(document).ready(function() { init_search(); });
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+<!-- iframe showing the search results (closed by default) -->
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+<iframe src="javascript:void(0)" frameborder="0" 
+        name="MSearchResults" id="MSearchResults">
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+
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="struct_p_c_l-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">PCL Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>this struct is used for RGB point cloud capture and display  
+ <a href="struct_p_c_l.html#details">More...</a></p>
+
+<p><code>#include &lt;<a class="el" href="_stereo_camera_common_8hpp_source.html">StereoCameraCommon.hpp</a>&gt;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a07c28b7f533724d91ec4a9e461989d8c"><td class="memItemLeft" align="right" valign="top"><a id="a07c28b7f533724d91ec4a9e461989d8c"></a>
+cv::Vec3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_p_c_l.html#a07c28b7f533724d91ec4a9e461989d8c">pts</a></td></tr>
+<tr class="memdesc:a07c28b7f533724d91ec4a9e461989d8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">points coordinates (x, y, z) <br /></td></tr>
+<tr class="separator:a07c28b7f533724d91ec4a9e461989d8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6555550c790378b130273dd6ae3a2158"><td class="memItemLeft" align="right" valign="top"><a id="a6555550c790378b130273dd6ae3a2158"></a>
+cv::Vec3b&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_p_c_l.html#a6555550c790378b130273dd6ae3a2158">clr</a></td></tr>
+<tr class="memdesc:a6555550c790378b130273dd6ae3a2158"><td class="mdescLeft">&#160;</td><td class="mdescRight">points color (b, g, r) <br /></td></tr>
+<tr class="separator:a6555550c790378b130273dd6ae3a2158"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>this struct is used for RGB point cloud capture and display </p>
+<p>pts for point coordinates (x, y, z), clr for point color (b, g, r) </p><dl class="section note"><dt>Note</dt><dd>point cloud simple type </dd></dl>
+<dl class="section attention"><dt>Attention</dt><dd>point data element type float, color data element type uchar </dd></dl>
+</div><hr/>The documentation for this struct was generated from the following file:<ul>
+<li>include/<a class="el" href="_stereo_camera_common_8hpp_source.html">StereoCameraCommon.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
+</small></address>
+</body>
+</html>
diff --git a/src/Robot/UnitreecameraSDK/doc/html/structglwindow_1_1_event_handler-members.html b/src/Robot/UnitreecameraSDK/doc/html/structglwindow_1_1_event_handler-members.html
new file mode 100644
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<table cellspacing="0" cellpadding="0">
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+ <tr style="height: 56px;">
+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+</table>
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+  <ul>
+<li class="navelem"><b>glwindow</b></li><li class="navelem"><a class="el" href="structglwindow_1_1_event_handler.html">EventHandler</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle">
+<div class="title">glwindow::EventHandler Member List</div>  </div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>, including all inherited members.</p>
+<table class="directory">
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_button_down</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_button_up</b>(GLWindow &amp;win, int btn, int state, int x, int y) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_close</b>(GLWindow &amp;win) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_key_down</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_key_up</b>(GLWindow &amp;win, int key) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_mouse_move</b>(GLWindow &amp;win, int state, int x, int y) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_mouse_wheel</b>(GLWindow &amp;win, int state, int x, int y, int dx, int dy) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>on_resize</b>(GLWindow &amp;win, int x, int y, int w, int h) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>on_text</b>(GLWindow &amp;win, const char *text, int len) (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>~EventHandler</b>() (defined in <a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a>)</td><td class="entry"><a class="el" href="structglwindow_1_1_event_handler.html">glwindow::EventHandler</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
+<img class="footer" src="doxygen.png" alt="doxygen"/>
+</a> 1.8.13
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diff --git a/src/Robot/UnitreecameraSDK/doc/html/structglwindow_1_1_event_handler.html b/src/Robot/UnitreecameraSDK/doc/html/structglwindow_1_1_event_handler.html
new file mode 100644
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+<meta http-equiv="X-UA-Compatible" content="IE=9"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>UnitreeCameraSDK: glwindow::EventHandler Struct Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
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+</head>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+  <td id="projectalign" style="padding-left: 0.5em;">
+   <div id="projectname">UnitreeCameraSDK
+   &#160;<span id="projectnumber">1.0.1</span>
+   </div>
+   <div id="projectbrief">unitree stereo camra apis</div>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structglwindow_1_1_event_handler-members.html">List of all members</a>  </div>
+  <div class="headertitle">
+<div class="title">glwindow::EventHandler Struct Reference</div>  </div>
+</div><!--header-->
+<div class="contents">
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+Public Member Functions</h2></td></tr>
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+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>on_key_down</b> (<a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;win, int key)</td></tr>
+<tr class="separator:a6f2084a1cbe2ec67360f07f7cacee5b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:adeb34bb7c2eb4357496bf4d8fcda53df"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2801b252ae6ddc96595bc262354ca789"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>on_mouse_move</b> (<a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;win, int state, int x, int y)</td></tr>
+<tr class="separator:a5f016ad6546c1413845a1a3b6c66bad9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>on_mouse_wheel</b> (<a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;win, int state, int x, int y, int dx, int dy)</td></tr>
+<tr class="separator:ad6373a3f3dd084db5f100e4da12130b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>on_resize</b> (<a class="el" href="classglwindow_1_1_g_l_window.html">GLWindow</a> &amp;win, int x, int y, int w, int h)</td></tr>
+<tr class="separator:a32a807fa383e8d0a7395fea38125ea91"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0bb4bf3ce84c596f781594219aad8198"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>examples/glViewer/<a class="el" href="glwindow_8hpp_source.html">glwindow.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by &#160;<a href="http://www.doxygen.org/index.html">
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+</a> 1.8.13
+</small></address>
+</body>
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index 0000000..ff28d37
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/Makefile b/src/Robot/UnitreecameraSDK/doc/latex/Makefile
new file mode 100644
index 0000000..8cc3866
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/Makefile
@@ -0,0 +1,21 @@
+all: refman.pdf
+
+pdf: refman.pdf
+
+refman.pdf: clean refman.tex
+	pdflatex refman
+	makeindex refman.idx
+	pdflatex refman
+	latex_count=8 ; \
+	while egrep -s 'Rerun (LaTeX|to get cross-references right)' refman.log && [ $$latex_count -gt 0 ] ;\
+	    do \
+	      echo "Rerunning latex...." ;\
+	      pdflatex refman ;\
+	      latex_count=`expr $$latex_count - 1` ;\
+	    done
+	makeindex refman.idx
+	pdflatex refman
+
+
+clean:
+	rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl refman.pdf
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8cc.tex b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8cc.tex
new file mode 100644
index 0000000..2038db9
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8cc.tex
@@ -0,0 +1,89 @@
+\hypertarget{_stereo_camera_common_8cc}{}\section{src/\+Stereo\+Camera\+Common.cc File Reference}
+\label{_stereo_camera_common_8cc}\index{src/\+Stereo\+Camera\+Common.\+cc@{src/\+Stereo\+Camera\+Common.\+cc}}
+
+
+This file is part of Unitree\+Camera\+S\+DK, which implement stereo vision algorithm.  
+
+
+{\ttfamily \#include \char`\"{}Stereo\+Camera\+Common.\+hpp\char`\"{}}\newline
+{\ttfamily \#include $<$unistd.\+h$>$}\newline
+{\ttfamily \#include $<$sys/shm.\+h$>$}\newline
+Include dependency graph for Stereo\+Camera\+Common.\+cc\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_stereo_camera_common_8cc__incl}
+\end{center}
+\end{figure}
+\subsection*{Typedefs}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8cc_a45c9c33784774d9db5196228af42ade2}\label{_stereo_camera_common_8cc_a45c9c33784774d9db5196228af42ade2}} 
+typedef enum \hyperlink{_stereo_camera_common_8cc_a883d5937720f572dee2c22374bf7190b}{Image\+Rect} {\bfseries Image\+Rect\+Type}
+\end{DoxyCompactItemize}
+\subsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum \hyperlink{_stereo_camera_common_8cc_a883d5937720f572dee2c22374bf7190b}{Image\+Rect} \{ {\bfseries R\+E\+C\+T\+\_\+\+F\+I\+S\+H\+E\+YE} = 0, 
+{\bfseries R\+E\+C\+T\+\_\+\+L\+O\+N\+G\+L\+AT}, 
+{\bfseries R\+E\+C\+T\+\_\+\+P\+E\+R\+S\+P\+E\+C\+T\+I\+VE}
+ \}\begin{DoxyCompactList}\small\item\em This enum is used for stereo images rectification. \end{DoxyCompactList}
+\end{DoxyCompactItemize}
+\subsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8cc_aa41028d84c6cc0f12740351985e25da7}\label{_stereo_camera_common_8cc_aa41028d84c6cc0f12740351985e25da7}} 
+double {\bfseries Mat\+Row\+Mul} (cv\+::\+Mat m, double x, double y, double z, int r)
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8cc_a6939ed8f37b4dfd4bdca76bb95545165}\label{_stereo_camera_common_8cc_a6939ed8f37b4dfd4bdca76bb95545165}} 
+int {\bfseries convert\+Raw\+Fisheye\+Image} (cv\+::\+Mat \&left, cv\+::\+Mat \&right, float da=0.\+0, float db=-\/32.\+0, float dcx=0.\+0, float dcy=0.\+0)
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8cc_a6ef6fea1313a8a9891d2f1f678a80012}\label{_stereo_camera_common_8cc_a6ef6fea1313a8a9891d2f1f678a80012}} 
+int {\bfseries convert\+Raw\+Fisheye\+Image} (int radius, cv\+::\+Mat \&left, cv\+::\+Mat \&right)
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8cc_a3ac4c463fd503a9b114180cfc5f193f2}\label{_stereo_camera_common_8cc_a3ac4c463fd503a9b114180cfc5f193f2}} 
+bool {\bfseries init\+Rectify\+Map} (cv\+::\+Mat K, cv\+::\+Mat D, cv\+::\+Mat R, cv\+::\+Mat Knew, double xi0, double xi1, cv\+::\+Size size, int mode, cv\+::\+Mat \&map1, cv\+::\+Mat \&map2)
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8cc_a883a659a463c067a78194c408f9d320c}\label{_stereo_camera_common_8cc_a883a659a463c067a78194c408f9d320c}} 
+uchar {\bfseries get\+Blue\+Seg\+Val} (float minv, float maxv, float curv)
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8cc_a0aeb36e5e9d4ef6d0e22167ce996414d}\label{_stereo_camera_common_8cc_a0aeb36e5e9d4ef6d0e22167ce996414d}} 
+uchar {\bfseries get\+Green\+Seg\+Val} (float minv, float maxv, float curv)
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8cc_aeae18b151dd0f723b04923e956416f8c}\label{_stereo_camera_common_8cc_aeae18b151dd0f723b04923e956416f8c}} 
+uchar {\bfseries get\+Red\+Seg\+Val} (float minv, float maxv, float curv)
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK, which implement stereo vision algorithm. 
+
+image capture, image rectification, disparity computation, point cloud generation \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang  create date 2021.\+07.\+31 
+\end{DoxyAuthor}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c)2019-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
+
+
+\subsection{Enumeration Type Documentation}
+\mbox{\Hypertarget{_stereo_camera_common_8cc_a883d5937720f572dee2c22374bf7190b}\label{_stereo_camera_common_8cc_a883d5937720f572dee2c22374bf7190b}} 
+\index{Stereo\+Camera\+Common.\+cc@{Stereo\+Camera\+Common.\+cc}!Image\+Rect@{Image\+Rect}}
+\index{Image\+Rect@{Image\+Rect}!Stereo\+Camera\+Common.\+cc@{Stereo\+Camera\+Common.\+cc}}
+\subsubsection{\texorpdfstring{Image\+Rect}{ImageRect}}
+{\footnotesize\ttfamily enum \hyperlink{_stereo_camera_common_8cc_a883d5937720f572dee2c22374bf7190b}{Image\+Rect}}
+
+
+
+This enum is used for stereo images rectification. 
+
+F\+I\+S\+H\+E\+YE and L\+O\+N\+G\+L\+AT for fisheye camera model, P\+E\+R\+S\+P\+E\+C\+T\+I\+VE for pinhole cameras \begin{DoxyNote}{Note}
+used for differen camera models 
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+make sure camera model is matched. 
+\end{DoxyAttention}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8cc__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8cc__incl.md5
new file mode 100644
index 0000000..fea48d2
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8cc__incl.md5
@@ -0,0 +1 @@
+3688f76f6e3cc41a3ff3e8c44f2f04dc
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8cc__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8cc__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp.tex b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp.tex
new file mode 100644
index 0000000..d2902d0
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp.tex
@@ -0,0 +1,60 @@
+\hypertarget{_stereo_camera_common_8hpp}{}\section{include/\+Stereo\+Camera\+Common.hpp File Reference}
+\label{_stereo_camera_common_8hpp}\index{include/\+Stereo\+Camera\+Common.\+hpp@{include/\+Stereo\+Camera\+Common.\+hpp}}
+
+
+This file is part of Unitree\+Camera\+S\+DK, which declare stereo camera algorithm A\+P\+Is.  
+
+
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$thread$>$}\newline
+{\ttfamily \#include $<$mutex$>$}\newline
+{\ttfamily \#include $<$condition\+\_\+variable$>$}\newline
+{\ttfamily \#include $<$opencv2/opencv.\+hpp$>$}\newline
+{\ttfamily \#include $<$chrono$>$}\newline
+{\ttfamily \#include \char`\"{}System\+Log.\+hpp\char`\"{}}\newline
+Include dependency graph for Stereo\+Camera\+Common.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_stereo_camera_common_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_stereo_camera_common_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \hyperlink{struct_p_c_l}{P\+CL}
+\begin{DoxyCompactList}\small\item\em this struct is used for R\+GB point cloud capture and display \end{DoxyCompactList}\item 
+class \hyperlink{class_stereo_camera}{Stereo\+Camera}
+\begin{DoxyCompactList}\small\item\em this class integrate camera control and stereo vision algorithm \end{DoxyCompactList}\end{DoxyCompactItemize}
+\subsection*{Typedefs}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{_stereo_camera_common_8hpp_ac9f36f2ca129cb52709d9b161d119f70}\label{_stereo_camera_common_8hpp_ac9f36f2ca129cb52709d9b161d119f70}} 
+typedef struct \hyperlink{struct_p_c_l}{P\+CL} {\bfseries P\+C\+L\+Type}
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK, which declare stereo camera algorithm A\+P\+Is. 
+
+image capture, image rectification, disparity computation, depth image and point cloud generation \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang 
+\end{DoxyAuthor}
+\begin{DoxyDate}{Date}
+2021.\+07.\+31 
+\end{DoxyDate}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c)2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__dep__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__dep__incl.md5
new file mode 100644
index 0000000..7abb3f1
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+7f4db891f68f1d4e01f1d1594809e7ee
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__dep__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__dep__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..41dad9901ddf463b0ab08053090a7fd8ec30bc73
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__incl.md5
new file mode 100644
index 0000000..0fbd8a5
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__incl.md5
@@ -0,0 +1 @@
+b776e70f5a953ff824f392fc5bfb13b1
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/_stereo_camera_common_8hpp__incl.pdf
new file mode 100644
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp.tex b/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp.tex
new file mode 100644
index 0000000..141c8ff
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp.tex
@@ -0,0 +1,48 @@
+\hypertarget{_system_log_8hpp}{}\section{include/\+System\+Log.hpp File Reference}
+\label{_system_log_8hpp}\index{include/\+System\+Log.\+hpp@{include/\+System\+Log.\+hpp}}
+
+
+This file is part of Unitree\+Camera\+S\+DK, which declare the A\+P\+Is of log system.  
+
+
+{\ttfamily \#include $<$stdarg.\+h$>$}\newline
+{\ttfamily \#include $<$stdio.\+h$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+Include dependency graph for System\+Log.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=256pt]{_system_log_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_system_log_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \hyperlink{class_system_log}{System\+Log}
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK, which declare the A\+P\+Is of log system. 
+
+The log system is used for unified management of the output information of the special system. \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang 
+\end{DoxyAuthor}
+\begin{DoxyDate}{Date}
+2021.\+07.\+31 
+\end{DoxyDate}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c)2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__dep__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__dep__incl.md5
new file mode 100644
index 0000000..69ca37d
--- /dev/null
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__dep__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__dep__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__incl.md5
new file mode 100644
index 0000000..0bdd592
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__incl.md5
@@ -0,0 +1 @@
+eea3b1c6140c740cb39e3585c6c6f257
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/_system_log_8hpp__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp.tex b/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp.tex
new file mode 100644
index 0000000..5341f52
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp.tex
@@ -0,0 +1,55 @@
+\hypertarget{_unitree_camera_s_d_k_8hpp}{}\section{include/\+Unitree\+Camera\+S\+DK.hpp File Reference}
+\label{_unitree_camera_s_d_k_8hpp}\index{include/\+Unitree\+Camera\+S\+D\+K.\+hpp@{include/\+Unitree\+Camera\+S\+D\+K.\+hpp}}
+
+
+This file is part of Unitree\+Camera\+S\+DK, which declare unitree camera A\+P\+Is.  
+
+
+{\ttfamily \#include \char`\"{}Stereo\+Camera\+Common.\+hpp\char`\"{}}\newline
+Include dependency graph for Unitree\+Camera\+S\+D\+K.\+hpp\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_unitree_camera_s_d_k_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{_unitree_camera_s_d_k_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \hyperlink{class_unitree_camera}{Unitree\+Camera}
+\end{DoxyCompactItemize}
+\subsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{_unitree_camera_s_d_k_8hpp_a698a13c84f0a5e266fabc2722bcc33e1}\label{_unitree_camera_s_d_k_8hpp_a698a13c84f0a5e266fabc2722bcc33e1}} 
+cv\+::\+Mat {\bfseries get\+Rotation\+Matrix} (int axis=\textquotesingle{}x\textquotesingle{}, float theta=0.\+0)
+\item 
+\mbox{\Hypertarget{_unitree_camera_s_d_k_8hpp_a3b00277586cab0e3a3d1ba29e3aa6d8e}\label{_unitree_camera_s_d_k_8hpp_a3b00277586cab0e3a3d1ba29e3aa6d8e}} 
+cv\+::\+Mat {\bfseries get\+Translation\+Matrix} (int axis=\textquotesingle{}x\textquotesingle{}, float theta=0.\+0, cv\+::\+Mat vec=cv\+::\+Mat())
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK, which declare unitree camera A\+P\+Is. 
+
+class \hyperlink{class_unitree_camera}{Unitree\+Camera} inherits the A\+P\+Is of class \hyperlink{class_stereo_camera}{Stereo\+Camera} image capture, image rectification, disparity computation, depth image and point cloud generation update camera firmware, flash camera parameters to camera \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang 
+\end{DoxyAuthor}
+\begin{DoxyDate}{Date}
+2021.\+07.\+31 
+\end{DoxyDate}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__dep__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__dep__incl.md5
new file mode 100644
index 0000000..13a1baf
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+a07567474bbc9135661cab5b88320738
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__dep__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__dep__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__incl.md5
new file mode 100644
index 0000000..d571ede
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__incl.md5
@@ -0,0 +1 @@
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/_unitree_camera_s_d_k_8hpp__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/annotated.tex b/src/Robot/UnitreecameraSDK/doc/latex/annotated.tex
new file mode 100644
index 0000000..bcab401
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/annotated.tex
@@ -0,0 +1,17 @@
+\section{Class List}
+Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\hyperlink{struct___device___point__}{\+\_\+\+Device\+\_\+\+Point\+\_\+} }{\pageref{struct___device___point__}}{}
+\item\contentsline{section}{\hyperlink{classglwindow_1_1_event_dispatcher}{glwindow\+::\+Event\+Dispatcher} }{\pageref{classglwindow_1_1_event_dispatcher}}{}
+\item\contentsline{section}{\hyperlink{structglwindow_1_1_event_handler}{glwindow\+::\+Event\+Handler} }{\pageref{structglwindow_1_1_event_handler}}{}
+\item\contentsline{section}{\hyperlink{classglwindow_1_1_g_l_window}{glwindow\+::\+G\+L\+Window} }{\pageref{classglwindow_1_1_g_l_window}}{}
+\item\contentsline{section}{\hyperlink{classinfo__camera__os}{info\+\_\+camera\+\_\+os} }{\pageref{classinfo__camera__os}}{}
+\item\contentsline{section}{\hyperlink{classinfo__camera___string}{info\+\_\+camera\+\_\+\+String} }{\pageref{classinfo__camera___string}}{}
+\item\contentsline{section}{\hyperlink{struct_p_c_l}{P\+CL} \\*This struct is used for R\+GB point cloud capture and display }{\pageref{struct_p_c_l}}{}
+\item\contentsline{section}{\hyperlink{classglwindow_1_1_scene_window}{glwindow\+::\+Scene\+Window} }{\pageref{classglwindow_1_1_scene_window}}{}
+\item\contentsline{section}{\hyperlink{structglwindow_1_1_g_l_window_1_1_scoped_context}{glwindow\+::\+G\+L\+Window\+::\+Scoped\+Context} }{\pageref{structglwindow_1_1_g_l_window_1_1_scoped_context}}{}
+\item\contentsline{section}{\hyperlink{class_stereo_camera}{Stereo\+Camera} \\*This class integrate camera control and stereo vision algorithm }{\pageref{class_stereo_camera}}{}
+\item\contentsline{section}{\hyperlink{class_system_log}{System\+Log} }{\pageref{class_system_log}}{}
+\item\contentsline{section}{\hyperlink{struct_g_l_window_1_1_system_state}{glwindow\+::\+G\+L\+Window\+::\+System\+State} }{\pageref{struct_g_l_window_1_1_system_state}}{}
+\item\contentsline{section}{\hyperlink{class_unitree_camera}{Unitree\+Camera} }{\pageref{class_unitree_camera}}{}
+\item\contentsline{section}{\hyperlink{structglwindow_1_1_scene_window_1_1_viewpoint}{glwindow\+::\+Scene\+Window\+::\+Viewpoint} }{\pageref{structglwindow_1_1_scene_window_1_1_viewpoint}}{}
+\end{DoxyCompactList}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_stereo_camera.tex b/src/Robot/UnitreecameraSDK/doc/latex/class_stereo_camera.tex
new file mode 100644
index 0000000..89842b8
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/class_stereo_camera.tex
@@ -0,0 +1,968 @@
+\hypertarget{class_stereo_camera}{}\section{Stereo\+Camera Class Reference}
+\label{class_stereo_camera}\index{Stereo\+Camera@{Stereo\+Camera}}
+
+
+this class integrate camera control and stereo vision algorithm  
+
+
+
+
+{\ttfamily \#include $<$Stereo\+Camera\+Common.\+hpp$>$}
+
+
+
+Inheritance diagram for Stereo\+Camera\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=163pt]{class_stereo_camera__inherit__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\hyperlink{class_stereo_camera_a6d9ac42b50dc07f5f846336ffd29e752}{Stereo\+Camera} (void)
+\begin{DoxyCompactList}\small\item\em \hyperlink{class_stereo_camera}{Stereo\+Camera}. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{class_stereo_camera_ad5caa5f91c77562d8b6183ef153a943c}\label{class_stereo_camera_ad5caa5f91c77562d8b6183ef153a943c}} 
+{\bfseries Stereo\+Camera} (std\+::string file\+Name)
+\item 
+\mbox{\Hypertarget{class_stereo_camera_a6e0d6591990e7f8d175d67e9609c8a4c}\label{class_stereo_camera_a6e0d6591990e7f8d175d67e9609c8a4c}} 
+{\bfseries Stereo\+Camera} (int device\+Node)
+\item 
+virtual \hyperlink{class_stereo_camera_a2b36ce592e0e2bf0850d37681c51ae60}{$\sim$\+Stereo\+Camera} ()
+\begin{DoxyCompactList}\small\item\em \hyperlink{class_stereo_camera}{Stereo\+Camera} destructor. \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_a47c0d9ee727f13af5d348db9f217a44b}{is\+Opened} (void)
+\begin{DoxyCompactList}\small\item\em get stereo camera running status \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_adb684170c2180eb2109f9eecd1723c1c}{set\+Log\+Level} (int level)
+\begin{DoxyCompactList}\small\item\em set stereo camera ouput log level \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_ad570580bd5b16ac58831d57ffd23ce5b}{set\+Pos\+Number} (int pos\+Number)
+\begin{DoxyCompactList}\small\item\em set stereo camera position number \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_a110ad0dc21cea5bfa5607752fc858163}{set\+Serial\+Number} (int serial\+Number)
+\begin{DoxyCompactList}\small\item\em set stereo camera serial number \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_aa28635e45b1d0ade5353a69e2a7175e4}{set\+Raw\+Frame\+Rate} (int frame\+Rate)
+\begin{DoxyCompactList}\small\item\em set stereo camera F\+PS (Frames Per Seconds) \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_adb1ed69d226251cd050b1deab0270af8}{set\+Raw\+Frame\+Size} (cv\+::\+Size frame\+Size)
+\begin{DoxyCompactList}\small\item\em set stereo camera frame size \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_ac2d8d3a96e0ac426af20a3e88df0167a}{set\+Rect\+Frame\+Size} (cv\+::\+Size frame\+Size)
+\begin{DoxyCompactList}\small\item\em set rectification image size \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_a98d7546631507bcede3c9a850e69db7a}{set\+Calib\+Params} (std\+::vector$<$ cv\+::\+Mat $>$ params\+Array, bool flag=false)
+\begin{DoxyCompactList}\small\item\em set stereo camera calibration parameters \end{DoxyCompactList}\item 
+virtual int \hyperlink{class_stereo_camera_a105495e27d95f3f905ef1de0f9866c70}{get\+Log\+Level} (void) const
+\begin{DoxyCompactList}\small\item\em get log system output level \end{DoxyCompactList}\item 
+virtual int \hyperlink{class_stereo_camera_a34d50c8166cf8f3f76fff5789f8f1eee}{get\+Device\+Node} (void) const
+\begin{DoxyCompactList}\small\item\em get camera device node \end{DoxyCompactList}\item 
+virtual int \hyperlink{class_stereo_camera_ab844029084a9a9de0996c1e7b24c258c}{get\+Pos\+Number} (void) const
+\begin{DoxyCompactList}\small\item\em get stereo camera device node \end{DoxyCompactList}\item 
+virtual int \hyperlink{class_stereo_camera_a3cb43015d545854892dd2e4057f5b2be}{get\+Serial\+Number} (void) const
+\begin{DoxyCompactList}\small\item\em get stereo camera serial number \end{DoxyCompactList}\item 
+virtual float \hyperlink{class_stereo_camera_ac92c3a60ae0c38e203c81bb2a2738eb4}{get\+Raw\+Frame\+Rate} (void) const
+\begin{DoxyCompactList}\small\item\em get stereo camera capture frame rate \end{DoxyCompactList}\item 
+virtual cv\+::\+Size \hyperlink{class_stereo_camera_a38c990b26167c2f7823b20f44b1a8fa7}{get\+Raw\+Frame\+Size} (void) const
+\begin{DoxyCompactList}\small\item\em get stereo camera frame size \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_ac8fbb6e1ebd828b1640d43ad7cdc0f9c}{get\+Raw\+Frame} (cv\+::\+Mat \&frame, std\+::chrono\+::microseconds \&time\+Stamp)
+\begin{DoxyCompactList}\small\item\em get stereo camera raw frame \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_aa25f48d95ba8d1c71fb0e40b53f68379}{get\+Stereo\+Frame} (cv\+::\+Mat \&left, cv\+::\+Mat \&right, std\+::chrono\+::microseconds \&time\+Stamp)
+\begin{DoxyCompactList}\small\item\em get stereo camera left and right image \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_aa0bd7e3a7ab4fcf2598ac4e780a27cb3}{get\+Depth\+Frame} (cv\+::\+Mat \&depth, bool color, std\+::chrono\+::microseconds \&time\+Stamp)
+\begin{DoxyCompactList}\small\item\em get stereo camera depth image \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{class_stereo_camera_aed61a02ac44c99be0aa62afea2ad9ed8}\label{class_stereo_camera_aed61a02ac44c99be0aa62afea2ad9ed8}} 
+virtual bool {\bfseries get\+Point\+Cloud} (std\+::vector$<$ cv\+::\+Vec3f $>$ \&pcl, std\+::chrono\+::microseconds \&time\+Stamp)
+\item 
+\mbox{\Hypertarget{class_stereo_camera_ac571ca8f4dc4783052bdab22f68a1ac1}\label{class_stereo_camera_ac571ca8f4dc4783052bdab22f68a1ac1}} 
+virtual bool {\bfseries get\+Point\+Cloud} (std\+::vector$<$ \hyperlink{struct_p_c_l}{P\+C\+L\+Type} $>$ \&pcl, std\+::chrono\+::microseconds \&time\+Stamp)
+\item 
+virtual bool \hyperlink{class_stereo_camera_a61ea11e661cca31acb780edbbba1d32e}{get\+Calib\+Params} (std\+::vector$<$ cv\+::\+Mat $>$ \&params\+Array, bool flag=false)
+\begin{DoxyCompactList}\small\item\em get stereo camera calibration paramerters \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{class_stereo_camera_a6a2a8d258ad08a80ab02932d5248850e}\label{class_stereo_camera_a6a2a8d258ad08a80ab02932d5248850e}} 
+virtual bool {\bfseries get\+Rect\+Stereo\+Frame} (cv\+::\+Mat \&left, cv\+::\+Mat \&right, cv\+::\+Mat \&feim)
+\item 
+\mbox{\Hypertarget{class_stereo_camera_a2730d460983ce6af37a4cf13025b4ed8}\label{class_stereo_camera_a2730d460983ce6af37a4cf13025b4ed8}} 
+virtual bool {\bfseries get\+Rect\+Stereo\+Frame} (cv\+::\+Mat \&left, cv\+::\+Mat \&right, cv\+::\+Mat \&feim, std\+::chrono\+::microseconds \&time\+Stamp)
+\item 
+virtual bool \hyperlink{class_stereo_camera_afe25245d518e12c6f0a685d7da7a2979}{load\+Config} (std\+::string file\+Name)
+\begin{DoxyCompactList}\small\item\em load stereo camera config parameters \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_afb896942fb7fe1ea33c80ec9dcefa6a0}{load\+Calib\+Params} (std\+::string file\+Name)
+\begin{DoxyCompactList}\small\item\em load stereo camera calibration params \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_a568930e8b3668361fedad5233ab5ba47}{save\+Config} (std\+::string file\+Name=\char`\"{}stereo\+\_\+camera\+\_\+config.\+yaml\char`\"{})
+\begin{DoxyCompactList}\small\item\em save stereo camera settings to config file \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_a7611e0d97d57abf36b4fa7dca2a3cfc5}{save\+Calib\+Params} (std\+::string file\+Name=\char`\"{}stereo\+\_\+camera\+\_\+calibparams.\+yaml\char`\"{})
+\begin{DoxyCompactList}\small\item\em save stereo camera calibration parameters to file \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{start\+Capture} (bool udp\+Flag=false, bool shm\+Flag=false)
+\begin{DoxyCompactList}\small\item\em start stereo camera capture thread \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_abb6da9140cb988beb753514e7416032b}{start\+Stereo\+Compute} (void)
+\begin{DoxyCompactList}\small\item\em start stereo camera computing disparity thread \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_a3597295e386dfe27474ff0e9567e6d6c}{stop\+Stereo\+Compute} (void)
+\begin{DoxyCompactList}\small\item\em stop stereo camera computing disparity thread \end{DoxyCompactList}\item 
+virtual bool \hyperlink{class_stereo_camera_a8c9f54bf349fd4dc5a8ba9fd26f22c31}{stop\+Capture} (void)
+\begin{DoxyCompactList}\small\item\em stop stereo camera capture thread \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+this class integrate camera control and stereo vision algorithm 
+
+this class is the base of Unitree\+Camera\+S\+DK, it includes many functions, such as camera frame capturing, image rectification, disparity computation, generating point cloud and etc. 
+
+\subsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_stereo_camera_a6d9ac42b50dc07f5f846336ffd29e752}\label{class_stereo_camera_a6d9ac42b50dc07f5f846336ffd29e752}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!Stereo\+Camera@{Stereo\+Camera}}
+\index{Stereo\+Camera@{Stereo\+Camera}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{Stereo\+Camera()}{StereoCamera()}}
+{\footnotesize\ttfamily Stereo\+Camera\+::\+Stereo\+Camera (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+\hyperlink{class_stereo_camera}{Stereo\+Camera}. 
+
+\hyperlink{class_stereo_camera}{Stereo\+Camera} constructor overload.
+
+default constructor 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+initialize \hyperlink{class_stereo_camera}{Stereo\+Camera} object by default settings 
+\begin{DoxyCode}
+\hyperlink{class_stereo_camera}{StereoCamera} *pCam = \textcolor{keyword}{new} \hyperlink{class_stereo_camera_a6d9ac42b50dc07f5f846336ffd29e752}{StereoCamera}(); or \hyperlink{class_stereo_camera}{StereoCamera} cam;
+\end{DoxyCode}
+
+\end{DoxyNote}
+This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
+
+use camera config file to init stereo camera 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & camera config file, include file path, for example\+: $\sim$/test/stereo\+Config.yaml \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+initialize \hyperlink{class_stereo_camera}{Stereo\+Camera} object by settings from configure file 
+\begin{DoxyCode}
+\hyperlink{class_stereo_camera_a6d9ac42b50dc07f5f846336ffd29e752}{StereoCamera}(\textcolor{stringliteral}{"path\_to/config.yaml"});
+\end{DoxyCode}
+
+\end{DoxyNote}
+This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
+
+use camera device node number to init stereo camera 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em device\+Node} & camera device node, for example\+: /dev/video0, camera device node\+: 0 \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+initialize \hyperlink{class_stereo_camera}{Stereo\+Camera} object by device node number 
+\begin{DoxyCode}
+\hyperlink{class_stereo_camera_a6d9ac42b50dc07f5f846336ffd29e752}{StereoCamera}(0); \textcolor{comment}{// for /dev/video0}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a2b36ce592e0e2bf0850d37681c51ae60}\label{class_stereo_camera_a2b36ce592e0e2bf0850d37681c51ae60}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!````~Stereo\+Camera@{$\sim$\+Stereo\+Camera}}
+\index{````~Stereo\+Camera@{$\sim$\+Stereo\+Camera}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{$\sim$\+Stereo\+Camera()}{~StereoCamera()}}
+{\footnotesize\ttfamily Stereo\+Camera\+::$\sim$\+Stereo\+Camera (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+\hyperlink{class_stereo_camera}{Stereo\+Camera} destructor. 
+
+release all stereo camera resource 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+automatically called when \hyperlink{class_stereo_camera}{Stereo\+Camera} object released 
+\end{DoxyNote}
+
+
+\subsection{Member Function Documentation}
+\mbox{\Hypertarget{class_stereo_camera_a61ea11e661cca31acb780edbbba1d32e}\label{class_stereo_camera_a61ea11e661cca31acb780edbbba1d32e}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Calib\+Params@{get\+Calib\+Params}}
+\index{get\+Calib\+Params@{get\+Calib\+Params}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Calib\+Params()}{getCalibParams()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::get\+Calib\+Params (\begin{DoxyParamCaption}\item[{std\+::vector$<$ cv\+::\+Mat $>$ \&}]{params\+Array,  }\item[{bool}]{flag = {\ttfamily false} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera calibration paramerters 
+
+calibration paramerters include\+: camera intrinsic matrix, camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em flag} & default false, false\+: get left camera parameters, true\+: get right camera parameters. \\
+\hline
+\mbox{\tt out}  & {\em params\+Array} & arrange Array element as follows\+: intrinsic,distortion,xi,rotation,translation,kfe \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if assignment successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+This funtion must be called after \hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{start\+Capture()} 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.startCapture();
+std::vector<cv::Mat> paramsArray;
+\textcolor{keywordflow}{if}(cam.getCalibParams(paramsArray))\{
+    \textcolor{comment}{//do something}
+\}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_aa0bd7e3a7ab4fcf2598ac4e780a27cb3}\label{class_stereo_camera_aa0bd7e3a7ab4fcf2598ac4e780a27cb3}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Depth\+Frame@{get\+Depth\+Frame}}
+\index{get\+Depth\+Frame@{get\+Depth\+Frame}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Depth\+Frame()}{getDepthFrame()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::get\+Depth\+Frame (\begin{DoxyParamCaption}\item[{cv\+::\+Mat \&}]{depth,  }\item[{bool}]{color,  }\item[{std\+::chrono\+::microseconds \&}]{time\+Stamp }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera depth image 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em color} & true\+: depth is color image, false\+:depth is gray image \\
+\hline
+\mbox{\tt out}  & {\em depth} & left image \\
+\hline
+\mbox{\tt out}  & {\em time\+Stamp} & frame time stamp \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if depth image is not empty, return true, otherwise return false. 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+This funtion must be called after \hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{start\+Capture()}. 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.startCapture();
+cam.startStereoCompute();
+cv::Mat depth;
+std::chrono::microseconds timeStamp;
+\textcolor{keywordflow}{if}(cam.getPointCloud(depth, \textcolor{keyword}{true}, timeStamp))\{
+    \textcolor{comment}{//do something}
+\}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a34d50c8166cf8f3f76fff5789f8f1eee}\label{class_stereo_camera_a34d50c8166cf8f3f76fff5789f8f1eee}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Device\+Node@{get\+Device\+Node}}
+\index{get\+Device\+Node@{get\+Device\+Node}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Device\+Node()}{getDeviceNode()}}
+{\footnotesize\ttfamily int Stereo\+Camera\+::get\+Device\+Node (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get camera device node 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+device node number 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+for example\+: /dev/video2, device node number is 2, the return value of function is 2. 
+\begin{DoxyCode}
+\textcolor{keywordtype}{int} nodeNumber = cam.getDeviceNode();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a105495e27d95f3f905ef1de0f9866c70}\label{class_stereo_camera_a105495e27d95f3f905ef1de0f9866c70}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Log\+Level@{get\+Log\+Level}}
+\index{get\+Log\+Level@{get\+Log\+Level}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Log\+Level()}{getLogLevel()}}
+{\footnotesize\ttfamily int Stereo\+Camera\+::get\+Log\+Level (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get log system output level 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+log level 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+1\+: output runtime information, 2\+: output runtime infomation and debug information 
+\begin{DoxyCode}
+\textcolor{keywordtype}{int} LogLevel = cam.getLogLevel();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_ab844029084a9a9de0996c1e7b24c258c}\label{class_stereo_camera_ab844029084a9a9de0996c1e7b24c258c}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Pos\+Number@{get\+Pos\+Number}}
+\index{get\+Pos\+Number@{get\+Pos\+Number}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Pos\+Number()}{getPosNumber()}}
+{\footnotesize\ttfamily int Stereo\+Camera\+::get\+Pos\+Number (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera device node 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+positon number 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+face N\+O.\+1, chin N\+O.\+2, left N\+O.\+3, right N\+O.\+4, down N\+O.\+5 
+\begin{DoxyCode}
+\textcolor{keywordtype}{int} posNum = cam.getPosNumber();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_ac8fbb6e1ebd828b1640d43ad7cdc0f9c}\label{class_stereo_camera_ac8fbb6e1ebd828b1640d43ad7cdc0f9c}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Raw\+Frame@{get\+Raw\+Frame}}
+\index{get\+Raw\+Frame@{get\+Raw\+Frame}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Raw\+Frame()}{getRawFrame()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::get\+Raw\+Frame (\begin{DoxyParamCaption}\item[{cv\+::\+Mat \&}]{frame,  }\item[{std\+::chrono\+::microseconds \&}]{time\+Stamp }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera raw frame 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em frame} & raw frame, include left and right image \\
+\hline
+\mbox{\tt out}  & {\em time\+Stamp} & raw frame time stamp \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if frame is not empty, return true, otherwise return false. 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cv::Mat frame;
+std::chrono::microseconds timeStamp
+cam.getRawFrame(frame, timeStamp);
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_ac92c3a60ae0c38e203c81bb2a2738eb4}\label{class_stereo_camera_ac92c3a60ae0c38e203c81bb2a2738eb4}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Raw\+Frame\+Rate@{get\+Raw\+Frame\+Rate}}
+\index{get\+Raw\+Frame\+Rate@{get\+Raw\+Frame\+Rate}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Raw\+Frame\+Rate()}{getRawFrameRate()}}
+{\footnotesize\ttfamily float Stereo\+Camera\+::get\+Raw\+Frame\+Rate (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera capture frame rate 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+current stereo camera fps. 
+\begin{DoxyCode}
+\textcolor{keywordtype}{float} fps = \hyperlink{class_stereo_camera_ac92c3a60ae0c38e203c81bb2a2738eb4}{getRawFrameRate}();
+\end{DoxyCode}
+ 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_stereo_camera_a38c990b26167c2f7823b20f44b1a8fa7}\label{class_stereo_camera_a38c990b26167c2f7823b20f44b1a8fa7}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Raw\+Frame\+Size@{get\+Raw\+Frame\+Size}}
+\index{get\+Raw\+Frame\+Size@{get\+Raw\+Frame\+Size}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Raw\+Frame\+Size()}{getRawFrameSize()}}
+{\footnotesize\ttfamily cv\+::\+Size Stereo\+Camera\+::get\+Raw\+Frame\+Size (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera frame size 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+frame size. 
+\begin{DoxyCode}
+cv::Size fSize = cam.getRawFrameSize();
+\end{DoxyCode}
+ 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_stereo_camera_a3cb43015d545854892dd2e4057f5b2be}\label{class_stereo_camera_a3cb43015d545854892dd2e4057f5b2be}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Serial\+Number@{get\+Serial\+Number}}
+\index{get\+Serial\+Number@{get\+Serial\+Number}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Serial\+Number()}{getSerialNumber()}}
+{\footnotesize\ttfamily int Stereo\+Camera\+::get\+Serial\+Number (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera serial number 
+
+this number is same as robot serial number 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+robot serial number 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+\textcolor{keywordtype}{int} seiralNumber = cam.getSerialNumber();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_aa25f48d95ba8d1c71fb0e40b53f68379}\label{class_stereo_camera_aa25f48d95ba8d1c71fb0e40b53f68379}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!get\+Stereo\+Frame@{get\+Stereo\+Frame}}
+\index{get\+Stereo\+Frame@{get\+Stereo\+Frame}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{get\+Stereo\+Frame()}{getStereoFrame()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::get\+Stereo\+Frame (\begin{DoxyParamCaption}\item[{cv\+::\+Mat \&}]{left,  }\item[{cv\+::\+Mat \&}]{right,  }\item[{std\+::chrono\+::microseconds \&}]{time\+Stamp }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera left and right image 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em left} & left image \\
+\hline
+\mbox{\tt out}  & {\em right} & right image \\
+\hline
+\mbox{\tt out}  & {\em time\+Stamp} & frame time stamp \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if left and right images are not empty, return true, otherwise return false. 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+This funtion must be called after \hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{start\+Capture()}. 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.startCapture();
+cv::Mat left, right;
+std::chrono::microseconds timeStamp;
+\textcolor{keywordflow}{if}(cam.getRawFrame(left,right, timeStamp))\{
+    \textcolor{comment}{//do something}
+\}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a47c0d9ee727f13af5d348db9f217a44b}\label{class_stereo_camera_a47c0d9ee727f13af5d348db9f217a44b}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!is\+Opened@{is\+Opened}}
+\index{is\+Opened@{is\+Opened}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{is\+Opened()}{isOpened()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::is\+Opened (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+get stereo camera running status 
+
+detect camera is opened or closed 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if camera is opened return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+tell camera running status, it should be called after \hyperlink{class_stereo_camera}{Stereo\+Camera} object initialization 
+\begin{DoxyCode}
+\hyperlink{class_stereo_camera}{StereoCamera} cam;
+\textcolor{keywordflow}{if}(cam.\hyperlink{class_stereo_camera_a47c0d9ee727f13af5d348db9f217a44b}{isOpened}())
+    printf(\textcolor{stringliteral}{"Camera is opened!"});
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_afb896942fb7fe1ea33c80ec9dcefa6a0}\label{class_stereo_camera_afb896942fb7fe1ea33c80ec9dcefa6a0}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!load\+Calib\+Params@{load\+Calib\+Params}}
+\index{load\+Calib\+Params@{load\+Calib\+Params}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{load\+Calib\+Params()}{loadCalibParams()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::load\+Calib\+Params (\begin{DoxyParamCaption}\item[{std\+::string}]{file\+Name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+load stereo camera calibration params 
+
+calibration paramerters include\+: camera intrinsic matrix, camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix, etc. 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & calibration file name\+: include file path, for example\+: \char`\"{}path\+\_\+to/calib.\+yaml\char`\"{} \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if load file successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+This funtion must be called before \hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{start\+Capture()} and after load\+Config(\char`\"{}xxx\char`\"{}); 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_afe25245d518e12c6f0a685d7da7a2979}{loadConfig}(\textcolor{stringliteral}{"path\_to/config.yaml"});
+cam.\hyperlink{class_stereo_camera_afb896942fb7fe1ea33c80ec9dcefa6a0}{loadCalibParams}(\textcolor{stringliteral}{"path\_to/calib.yaml"});
+cam.\hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{startCapture}();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_afe25245d518e12c6f0a685d7da7a2979}\label{class_stereo_camera_afe25245d518e12c6f0a685d7da7a2979}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!load\+Config@{load\+Config}}
+\index{load\+Config@{load\+Config}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{load\+Config()}{loadConfig()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::load\+Config (\begin{DoxyParamCaption}\item[{std\+::string}]{file\+Name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+load stereo camera config parameters 
+
+parameters include\+: Log\+Level,Threshold,Algorithm,Ip\+Last\+Segment, Device\+Node,Frame\+Size,Rectify\+Frame\+Size,Frame\+Rate, etc. 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & config name\+: include config path, for example\+: \char`\"{}path\+\_\+to/config.\+yaml\char`\"{} \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if load config file successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+This funtion must be called before \hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{start\+Capture()} and after init the camera object. 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_afe25245d518e12c6f0a685d7da7a2979}{loadConfig}(\textcolor{stringliteral}{"path\_to/config.yaml"});
+cam.\hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{startCapture}();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a7611e0d97d57abf36b4fa7dca2a3cfc5}\label{class_stereo_camera_a7611e0d97d57abf36b4fa7dca2a3cfc5}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!save\+Calib\+Params@{save\+Calib\+Params}}
+\index{save\+Calib\+Params@{save\+Calib\+Params}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{save\+Calib\+Params()}{saveCalibParams()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::save\+Calib\+Params (\begin{DoxyParamCaption}\item[{std\+::string}]{file\+Name = {\ttfamily \char`\"{}stereo\+\_\+camera\+\_\+calibparams.yaml\char`\"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+save stereo camera calibration parameters to file 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & default name\+: stereo\+\_\+camera\+\_\+calibparams.\+yaml, output file\+: include file path, for example\+: \char`\"{}path\+\_\+to/calib.\+yaml\char`\"{} \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if save file successfully return true, otherwise return false 
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_a568930e8b3668361fedad5233ab5ba47}{saveConfig}(\textcolor{stringliteral}{"stereo\_camera\_config.yaml"});
+\end{DoxyCode}
+ 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_stereo_camera_a568930e8b3668361fedad5233ab5ba47}\label{class_stereo_camera_a568930e8b3668361fedad5233ab5ba47}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!save\+Config@{save\+Config}}
+\index{save\+Config@{save\+Config}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{save\+Config()}{saveConfig()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::save\+Config (\begin{DoxyParamCaption}\item[{std\+::string}]{file\+Name = {\ttfamily \char`\"{}stereo\+\_\+camera\+\_\+config.yaml\char`\"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+save stereo camera settings to config file 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & default name\+: stereo\+\_\+camera\+\_\+config.\+yaml, output config file\+: include file path, for example\+: \char`\"{}path\+\_\+to/config.\+yaml\char`\"{} \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if save file successfully return true, otherwise return false 
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_a568930e8b3668361fedad5233ab5ba47}{saveConfig}(\textcolor{stringliteral}{"stereo\_camera\_config.yaml"});
+\end{DoxyCode}
+ 
+\end{DoxyReturn}
+\mbox{\Hypertarget{class_stereo_camera_a98d7546631507bcede3c9a850e69db7a}\label{class_stereo_camera_a98d7546631507bcede3c9a850e69db7a}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!set\+Calib\+Params@{set\+Calib\+Params}}
+\index{set\+Calib\+Params@{set\+Calib\+Params}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{set\+Calib\+Params()}{setCalibParams()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::set\+Calib\+Params (\begin{DoxyParamCaption}\item[{std\+::vector$<$ cv\+::\+Mat $>$}]{params\+Array,  }\item[{bool}]{flag = {\ttfamily false} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+set stereo camera calibration parameters 
+
+calibration paramerters include\+: camera intrinsic matrix, camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em params\+Array} & arrange Array element as follows\+: intrinsic,distortion,xi,rotation,translation,kfe \\
+\hline
+\mbox{\tt in}  & {\em flag} & false\+: set left camera params, true\+: right camera params \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if assignment successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+the order of parameters should be correct 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+std::vector<cv::Mat> leftParamsArray;
+cam.\hyperlink{class_stereo_camera_a98d7546631507bcede3c9a850e69db7a}{setCalibParams}(leftParamsArray);
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_adb684170c2180eb2109f9eecd1723c1c}\label{class_stereo_camera_adb684170c2180eb2109f9eecd1723c1c}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!set\+Log\+Level@{set\+Log\+Level}}
+\index{set\+Log\+Level@{set\+Log\+Level}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{set\+Log\+Level()}{setLogLevel()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::set\+Log\+Level (\begin{DoxyParamCaption}\item[{int}]{level }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+set stereo camera ouput log level 
+
+log level means that different kind of information will be output 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em level} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if assignment successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+output information starts with \char`\"{}\+Stereo\+Camera\char`\"{}, it should be called after \hyperlink{class_stereo_camera}{Stereo\+Camera} object initialization 
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_adb684170c2180eb2109f9eecd1723c1c}{setLogLevel}(2); \textcolor{comment}{//debug level }
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_ad570580bd5b16ac58831d57ffd23ce5b}\label{class_stereo_camera_ad570580bd5b16ac58831d57ffd23ce5b}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!set\+Pos\+Number@{set\+Pos\+Number}}
+\index{set\+Pos\+Number@{set\+Pos\+Number}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{set\+Pos\+Number()}{setPosNumber()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::set\+Pos\+Number (\begin{DoxyParamCaption}\item[{int}]{pos\+Number }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+set stereo camera position number 
+
+position number means that the number of camera location in robot body 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em pos\+Number} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if assignment successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+face N\+O.\+1, chin N\+O.\+2, left N\+O.\+3, right N\+O.\+4, down N\+O.\+5 
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_ad570580bd5b16ac58831d57ffd23ce5b}{setPosNumber}(2);
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_aa28635e45b1d0ade5353a69e2a7175e4}\label{class_stereo_camera_aa28635e45b1d0ade5353a69e2a7175e4}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!set\+Raw\+Frame\+Rate@{set\+Raw\+Frame\+Rate}}
+\index{set\+Raw\+Frame\+Rate@{set\+Raw\+Frame\+Rate}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{set\+Raw\+Frame\+Rate()}{setRawFrameRate()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::set\+Raw\+Frame\+Rate (\begin{DoxyParamCaption}\item[{int}]{frame\+Rate }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+set stereo camera F\+PS (Frames Per Seconds) 
+
+for 1856\+X800 F\+PS\+:30, for 928x400 F\+PS\+:30 or 60 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em frame\+Rate} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if assignment successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_aa28635e45b1d0ade5353a69e2a7175e4}{setRawFrameRate}(30)
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_adb1ed69d226251cd050b1deab0270af8}\label{class_stereo_camera_adb1ed69d226251cd050b1deab0270af8}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!set\+Raw\+Frame\+Size@{set\+Raw\+Frame\+Size}}
+\index{set\+Raw\+Frame\+Size@{set\+Raw\+Frame\+Size}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{set\+Raw\+Frame\+Size()}{setRawFrameSize()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::set\+Raw\+Frame\+Size (\begin{DoxyParamCaption}\item[{cv\+::\+Size}]{frame\+Size }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+set stereo camera frame size 
+
+There are two choise\+: 1856\+X800,928x400. 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em frame\+Size} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if assignment successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+if do not assign frame\+Size, default size is 1856x800 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_adb1ed69d226251cd050b1deab0270af8}{setRawFrameSize}(cv::Size(1856, 800));
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_ac2d8d3a96e0ac426af20a3e88df0167a}\label{class_stereo_camera_ac2d8d3a96e0ac426af20a3e88df0167a}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!set\+Rect\+Frame\+Size@{set\+Rect\+Frame\+Size}}
+\index{set\+Rect\+Frame\+Size@{set\+Rect\+Frame\+Size}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{set\+Rect\+Frame\+Size()}{setRectFrameSize()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::set\+Rect\+Frame\+Size (\begin{DoxyParamCaption}\item[{cv\+::\+Size}]{frame\+Size }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+set rectification image size 
+
+this size should keep ratio as camera raw image size, for example\+: raw single frame size\+: 928x800 rectification image size\+: 464x400 or 232x200 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em frame\+Size} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if assignment successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+rectification image size must be smaller than camera raw single image size 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_adb1ed69d226251cd050b1deab0270af8}{setRawFrameSize}(cv::Size(464, 400));
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a110ad0dc21cea5bfa5607752fc858163}\label{class_stereo_camera_a110ad0dc21cea5bfa5607752fc858163}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!set\+Serial\+Number@{set\+Serial\+Number}}
+\index{set\+Serial\+Number@{set\+Serial\+Number}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{set\+Serial\+Number()}{setSerialNumber()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::set\+Serial\+Number (\begin{DoxyParamCaption}\item[{int}]{serial\+Number }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+set stereo camera serial number 
+
+serial number same as robot serial number 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em serial\+Number} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if assignment successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_a110ad0dc21cea5bfa5607752fc858163}{setSerialNumber}(2);
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}\label{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!start\+Capture@{start\+Capture}}
+\index{start\+Capture@{start\+Capture}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{start\+Capture()}{startCapture()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::start\+Capture (\begin{DoxyParamCaption}\item[{bool}]{udp\+Flag = {\ttfamily false},  }\item[{bool}]{shm\+Flag = {\ttfamily false} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+start stereo camera capture thread 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em udp\+Flag} & default false, true\+: enable using H264 encode camera frame and send it by gstream udp command \\
+\hline
+\mbox{\tt in}  & {\em shm\+Flag} & default false, true\+: enable using share memory to share camera frame \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if create capture thread successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+gstreamer send command\+: \char`\"{}appsrc ! videoconvert ! omxh264enc ! video/x-\/h264, stream-\/format=byte-\/stream ! rtph264pay ! udpsink host=192.\+168.\+123.\+S\+E\+G port=host\+Port\char`\"{}. S\+EG is last segment of your recieve board IP, its range from 2$\sim$254,for example\+: 13, host=192.\+168.\+123.\+13. host\+Port is defined by the result of adding camera position number and 9000, for example\+: camera positon number is 5, port=9005. share memory key number is defined by the result of adding camera position number and 9000. This function must be called after camera config or settings finished. 
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{startCapture}(\textcolor{keyword}{true}, \textcolor{keyword}{false}); \textcolor{comment}{// support h264 encode frame and send it by udp}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_abb6da9140cb988beb753514e7416032b}\label{class_stereo_camera_abb6da9140cb988beb753514e7416032b}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!start\+Stereo\+Compute@{start\+Stereo\+Compute}}
+\index{start\+Stereo\+Compute@{start\+Stereo\+Compute}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{start\+Stereo\+Compute()}{startStereoCompute()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::start\+Stereo\+Compute (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+start stereo camera computing disparity thread 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if create thread successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+This function must be called after \hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{start\+Capture()}; 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{startCapture}();
+cam.\hyperlink{class_stereo_camera_abb6da9140cb988beb753514e7416032b}{startStereoCompute}();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a8c9f54bf349fd4dc5a8ba9fd26f22c31}\label{class_stereo_camera_a8c9f54bf349fd4dc5a8ba9fd26f22c31}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!stop\+Capture@{stop\+Capture}}
+\index{stop\+Capture@{stop\+Capture}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{stop\+Capture()}{stopCapture()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::stop\+Capture (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+stop stereo camera capture thread 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if stop thread successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+This function must be called after \hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{start\+Capture()}. 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_a4e5146c1d33ab5f4f9a3995b93e3cbc5}{startCapture}();
+cam.\hyperlink{class_stereo_camera_abb6da9140cb988beb753514e7416032b}{startStereoCompute}();
+cam.\hyperlink{class_stereo_camera_a3597295e386dfe27474ff0e9567e6d6c}{stopStereoCompute}();
+cam.\hyperlink{class_stereo_camera_a8c9f54bf349fd4dc5a8ba9fd26f22c31}{stopCapture}();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_stereo_camera_a3597295e386dfe27474ff0e9567e6d6c}\label{class_stereo_camera_a3597295e386dfe27474ff0e9567e6d6c}} 
+\index{Stereo\+Camera@{Stereo\+Camera}!stop\+Stereo\+Compute@{stop\+Stereo\+Compute}}
+\index{stop\+Stereo\+Compute@{stop\+Stereo\+Compute}!Stereo\+Camera@{Stereo\+Camera}}
+\subsubsection{\texorpdfstring{stop\+Stereo\+Compute()}{stopStereoCompute()}}
+{\footnotesize\ttfamily bool Stereo\+Camera\+::stop\+Stereo\+Compute (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+stop stereo camera computing disparity thread 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true or false, if stop thread successfully return true, otherwise return false 
+\end{DoxyReturn}
+\begin{DoxyAttention}{Attention}
+This function must be called after \hyperlink{class_stereo_camera_abb6da9140cb988beb753514e7416032b}{start\+Stereo\+Compute()} 
+\end{DoxyAttention}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+cam.\hyperlink{class_stereo_camera_abb6da9140cb988beb753514e7416032b}{startStereoCompute}();
+cam.\hyperlink{class_stereo_camera_a3597295e386dfe27474ff0e9567e6d6c}{stopStereoCompute}();
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+include/\hyperlink{_stereo_camera_common_8hpp}{Stereo\+Camera\+Common.\+hpp}\item 
+src/\hyperlink{_stereo_camera_common_8cc}{Stereo\+Camera\+Common.\+cc}\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_stereo_camera__inherit__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/class_stereo_camera__inherit__graph.md5
new file mode 100644
index 0000000..7390a63
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/class_stereo_camera__inherit__graph.md5
@@ -0,0 +1 @@
+73f0bd2a0c72193d410840a870b6b357
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_stereo_camera__inherit__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/class_stereo_camera__inherit__graph.pdf
new file mode 100644
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_system_log.tex b/src/Robot/UnitreecameraSDK/doc/latex/class_system_log.tex
new file mode 100644
index 0000000..96815a0
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/class_system_log.tex
@@ -0,0 +1,338 @@
+\hypertarget{class_system_log}{}\section{System\+Log Class Reference}
+\label{class_system_log}\index{System\+Log@{System\+Log}}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\hyperlink{class_system_log_aad41c68c3a8192ddb646170349023c99}{System\+Log} (std\+::string log\+Name)
+\begin{DoxyCompactList}\small\item\em \hyperlink{class_system_log}{System\+Log} constructor. \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_a21296bb67489848bad6cfa04280fec85}{set\+Log\+Level} (int level)
+\begin{DoxyCompactList}\small\item\em set system ouput log level \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_ac33b9f16ae96885ff7170d209a6af506}{run\+Time\+Error} (const char $\ast$format,...)
+\begin{DoxyCompactList}\small\item\em output running error infomation, color\+: red \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_ac9b085c959e3f97d547c997c2fca2613}{run\+Time\+Info} (const char $\ast$format,...)
+\begin{DoxyCompactList}\small\item\em output running infomation, color\+: green \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_a69d19a4affe470db2b740a1e9a78e6e5}{run\+Time\+Warning} (const char $\ast$format,...)
+\begin{DoxyCompactList}\small\item\em output running warning infomation, color\+: yellow \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_a08dff4b478ed29a39d584d3b7f21ddfb}{debug\+Time\+Warning} (const char $\ast$format,...)
+\begin{DoxyCompactList}\small\item\em output debug warning infomation, color\+: cyan \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_ad79238fdcc9a301093d6fa32884d1ae1}{debug\+Time\+Info} (const char $\ast$format,...)
+\begin{DoxyCompactList}\small\item\em output debug infomation, color\+: white \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_ae1cbe2de51efe22068e2e047396a72dd}{debug\+Time\+Error} (const char $\ast$format,...)
+\begin{DoxyCompactList}\small\item\em output debug error infomation, color\+: magenta \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_a9714a265975472433882962b7449bd45}{save\+Log} (void)
+\begin{DoxyCompactList}\small\item\em save system log to a file, default file name\+: Running.\+txt \end{DoxyCompactList}\item 
+void \hyperlink{class_system_log_af41d346f86242f5be187fe2be354347d}{save\+Log\+To\+File} (std\+::string file\+Name)
+\begin{DoxyCompactList}\small\item\em save system log to a designated file \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\subsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_system_log_aad41c68c3a8192ddb646170349023c99}\label{class_system_log_aad41c68c3a8192ddb646170349023c99}} 
+\index{System\+Log@{System\+Log}!System\+Log@{System\+Log}}
+\index{System\+Log@{System\+Log}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{System\+Log()}{SystemLog()}}
+{\footnotesize\ttfamily System\+Log\+::\+System\+Log (\begin{DoxyParamCaption}\item[{std\+::string}]{log\+Name }\end{DoxyParamCaption})}
+
+
+
+\hyperlink{class_system_log}{System\+Log} constructor. 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em log\+Name} & the name of special system \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+output information starts with \char`\"{}log\+Name\char`\"{} 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+
+
+\subsection{Member Function Documentation}
+\mbox{\Hypertarget{class_system_log_ae1cbe2de51efe22068e2e047396a72dd}\label{class_system_log_ae1cbe2de51efe22068e2e047396a72dd}} 
+\index{System\+Log@{System\+Log}!debug\+Time\+Error@{debug\+Time\+Error}}
+\index{debug\+Time\+Error@{debug\+Time\+Error}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{debug\+Time\+Error()}{debugTimeError()}}
+{\footnotesize\ttfamily System\+Log\+::debug\+Time\+Error (\begin{DoxyParamCaption}\item[{const char $\ast$}]{format,  }\item[{}]{... }\end{DoxyParamCaption})}
+
+
+
+output debug error infomation, color\+: magenta 
+
+output format \mbox{[}log\+Name\mbox{]}\mbox{[}D\+E\+B\+U\+G\+\_\+\+E\+R\+R\+OR\mbox{]} info 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em format} & \\
+\hline
+\mbox{\tt in}  & {\em ...} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+use it like printf() 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+\mbox{\Hypertarget{class_system_log_ad79238fdcc9a301093d6fa32884d1ae1}\label{class_system_log_ad79238fdcc9a301093d6fa32884d1ae1}} 
+\index{System\+Log@{System\+Log}!debug\+Time\+Info@{debug\+Time\+Info}}
+\index{debug\+Time\+Info@{debug\+Time\+Info}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{debug\+Time\+Info()}{debugTimeInfo()}}
+{\footnotesize\ttfamily System\+Log\+::debug\+Time\+Info (\begin{DoxyParamCaption}\item[{const char $\ast$}]{format,  }\item[{}]{... }\end{DoxyParamCaption})}
+
+
+
+output debug infomation, color\+: white 
+
+output format \mbox{[}log\+Name\mbox{]}\mbox{[}D\+E\+B\+U\+G\+\_\+\+I\+N\+FO\mbox{]} info 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em format} & \\
+\hline
+\mbox{\tt in}  & {\em ...} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+use it like printf() 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+\mbox{\Hypertarget{class_system_log_a08dff4b478ed29a39d584d3b7f21ddfb}\label{class_system_log_a08dff4b478ed29a39d584d3b7f21ddfb}} 
+\index{System\+Log@{System\+Log}!debug\+Time\+Warning@{debug\+Time\+Warning}}
+\index{debug\+Time\+Warning@{debug\+Time\+Warning}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{debug\+Time\+Warning()}{debugTimeWarning()}}
+{\footnotesize\ttfamily System\+Log\+::debug\+Time\+Warning (\begin{DoxyParamCaption}\item[{const char $\ast$}]{format,  }\item[{}]{... }\end{DoxyParamCaption})}
+
+
+
+output debug warning infomation, color\+: cyan 
+
+output format \mbox{[}log\+Name\mbox{]}\mbox{[}D\+E\+B\+U\+G\+\_\+\+W\+A\+R\+N\+I\+NG\mbox{]} info 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em format} & \\
+\hline
+\mbox{\tt in}  & {\em ...} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+use it like printf() 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+\mbox{\Hypertarget{class_system_log_ac33b9f16ae96885ff7170d209a6af506}\label{class_system_log_ac33b9f16ae96885ff7170d209a6af506}} 
+\index{System\+Log@{System\+Log}!run\+Time\+Error@{run\+Time\+Error}}
+\index{run\+Time\+Error@{run\+Time\+Error}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{run\+Time\+Error()}{runTimeError()}}
+{\footnotesize\ttfamily System\+Log\+::run\+Time\+Error (\begin{DoxyParamCaption}\item[{const char $\ast$}]{format,  }\item[{}]{... }\end{DoxyParamCaption})}
+
+
+
+output running error infomation, color\+: red 
+
+output format \mbox{[}log\+Name\mbox{]}\mbox{[}E\+R\+R\+OR\mbox{]} info 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em format} & \\
+\hline
+\mbox{\tt in}  & {\em ...} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+use it like printf() 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+\mbox{\Hypertarget{class_system_log_ac9b085c959e3f97d547c997c2fca2613}\label{class_system_log_ac9b085c959e3f97d547c997c2fca2613}} 
+\index{System\+Log@{System\+Log}!run\+Time\+Info@{run\+Time\+Info}}
+\index{run\+Time\+Info@{run\+Time\+Info}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{run\+Time\+Info()}{runTimeInfo()}}
+{\footnotesize\ttfamily System\+Log\+::run\+Time\+Info (\begin{DoxyParamCaption}\item[{const char $\ast$}]{format,  }\item[{}]{... }\end{DoxyParamCaption})}
+
+
+
+output running infomation, color\+: green 
+
+output format \mbox{[}log\+Name\mbox{]}\mbox{[}I\+N\+FO\mbox{]} info 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em format} & \\
+\hline
+\mbox{\tt in}  & {\em ...} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+use it like printf() 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+\mbox{\Hypertarget{class_system_log_a69d19a4affe470db2b740a1e9a78e6e5}\label{class_system_log_a69d19a4affe470db2b740a1e9a78e6e5}} 
+\index{System\+Log@{System\+Log}!run\+Time\+Warning@{run\+Time\+Warning}}
+\index{run\+Time\+Warning@{run\+Time\+Warning}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{run\+Time\+Warning()}{runTimeWarning()}}
+{\footnotesize\ttfamily System\+Log\+::run\+Time\+Warning (\begin{DoxyParamCaption}\item[{const char $\ast$}]{format,  }\item[{}]{... }\end{DoxyParamCaption})}
+
+
+
+output running warning infomation, color\+: yellow 
+
+output format \mbox{[}log\+Name\mbox{]}\mbox{[}W\+A\+R\+N\+I\+NG\mbox{]} info 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em format} & \\
+\hline
+\mbox{\tt in}  & {\em ...} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+use it like printf() 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+\mbox{\Hypertarget{class_system_log_a9714a265975472433882962b7449bd45}\label{class_system_log_a9714a265975472433882962b7449bd45}} 
+\index{System\+Log@{System\+Log}!save\+Log@{save\+Log}}
+\index{save\+Log@{save\+Log}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{save\+Log()}{saveLog()}}
+{\footnotesize\ttfamily System\+Log\+::save\+Log (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+save system log to a file, default file name\+: Running.\+txt 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em none} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+not implement at this version 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+\mbox{\Hypertarget{class_system_log_af41d346f86242f5be187fe2be354347d}\label{class_system_log_af41d346f86242f5be187fe2be354347d}} 
+\index{System\+Log@{System\+Log}!save\+Log\+To\+File@{save\+Log\+To\+File}}
+\index{save\+Log\+To\+File@{save\+Log\+To\+File}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{save\+Log\+To\+File()}{saveLogToFile()}}
+{\footnotesize\ttfamily System\+Log\+::save\+Log\+To\+File (\begin{DoxyParamCaption}\item[{std\+::string}]{file\+Name }\end{DoxyParamCaption})}
+
+
+
+save system log to a designated file 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+not implement at this version 
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+\mbox{\Hypertarget{class_system_log_a21296bb67489848bad6cfa04280fec85}\label{class_system_log_a21296bb67489848bad6cfa04280fec85}} 
+\index{System\+Log@{System\+Log}!set\+Log\+Level@{set\+Log\+Level}}
+\index{set\+Log\+Level@{set\+Log\+Level}!System\+Log@{System\+Log}}
+\subsubsection{\texorpdfstring{set\+Log\+Level()}{setLogLevel()}}
+{\footnotesize\ttfamily System\+Log\+::set\+Log\+Level (\begin{DoxyParamCaption}\item[{int}]{level }\end{DoxyParamCaption})}
+
+
+
+set system ouput log level 
+
+log level means that different kind of information will be output 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em level} & 1 running information output, 2 running and debug infomation output \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyAttention}
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+include/\hyperlink{_system_log_8hpp}{System\+Log.\+hpp}\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera.tex b/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera.tex
new file mode 100644
index 0000000..583b289
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera.tex
@@ -0,0 +1,221 @@
+\hypertarget{class_unitree_camera}{}\section{Unitree\+Camera Class Reference}
+\label{class_unitree_camera}\index{Unitree\+Camera@{Unitree\+Camera}}
+
+
+Inheritance diagram for Unitree\+Camera\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=163pt]{class_unitree_camera__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for Unitree\+Camera\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=163pt]{class_unitree_camera__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\hyperlink{class_unitree_camera_af8a5e0c70f99096ecd378680d2f1ec27}{Unitree\+Camera} ()
+\begin{DoxyCompactList}\small\item\em \hyperlink{class_unitree_camera}{Unitree\+Camera} init unitree stereo camera object for default parameters. \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{class_unitree_camera_afe458a0b083d37d8212ddfcbe62cb033}\label{class_unitree_camera_afe458a0b083d37d8212ddfcbe62cb033}} 
+{\bfseries Unitree\+Camera} (std\+::string file\+Name)
+\item 
+\mbox{\Hypertarget{class_unitree_camera_a0d447525ea7fbcba9b9f892387fc91ee}\label{class_unitree_camera_a0d447525ea7fbcba9b9f892387fc91ee}} 
+{\bfseries Unitree\+Camera} (int device\+Node)
+\item 
+\hyperlink{class_unitree_camera_aefb112b0fa677221163ddd18ccf08d8c}{$\sim$\+Unitree\+Camera} (void)
+\begin{DoxyCompactList}\small\item\em \hyperlink{class_unitree_camera}{Unitree\+Camera} destructor. \end{DoxyCompactList}\item 
+bool \hyperlink{class_unitree_camera_ab056c2e429ec5d91b7e838c18cbd0d73}{update\+Calib\+Params2\+Flash} (std\+::string file\+Name)
+\begin{DoxyCompactList}\small\item\em update camera calibrate parameters \end{DoxyCompactList}\item 
+bool \hyperlink{class_unitree_camera_a45e182540ab4bb59b68fb07c23bdd91f}{check\+Firmware\+Version} (std\+::string \&version)
+\begin{DoxyCompactList}\small\item\em check camera\textquotesingle{}s firmware version \end{DoxyCompactList}\item 
+bool \hyperlink{class_unitree_camera_abd0fd0e03ac98f90905ea582e4f397a7}{update\+Firmware} (std\+::string file\+Name)
+\begin{DoxyCompactList}\small\item\em update camera\textquotesingle{}s firmware \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\subsection{Constructor \& Destructor Documentation}
+\mbox{\Hypertarget{class_unitree_camera_af8a5e0c70f99096ecd378680d2f1ec27}\label{class_unitree_camera_af8a5e0c70f99096ecd378680d2f1ec27}} 
+\index{Unitree\+Camera@{Unitree\+Camera}!Unitree\+Camera@{Unitree\+Camera}}
+\index{Unitree\+Camera@{Unitree\+Camera}!Unitree\+Camera@{Unitree\+Camera}}
+\subsubsection{\texorpdfstring{Unitree\+Camera()}{UnitreeCamera()}}
+{\footnotesize\ttfamily Unitree\+Camera\+::\+Unitree\+Camera (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+\hyperlink{class_unitree_camera}{Unitree\+Camera} init unitree stereo camera object for default parameters. 
+
+\hyperlink{class_unitree_camera}{Unitree\+Camera} constructor overload.
+
+default constructor 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+\hyperlink{class_unitree_camera_af8a5e0c70f99096ecd378680d2f1ec27}{UnitreeCamera}();
+\end{DoxyCode}
+
+\end{DoxyNote}
+This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
+
+use camera config file to init unitree stereo camera 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & camera config file, include file path, for example\+: $\sim$/test/stereo\+Config.yaml \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+\hyperlink{class_unitree_camera_af8a5e0c70f99096ecd378680d2f1ec27}{UnitreeCamera}(\textcolor{stringliteral}{"path\_to/config.yaml"});
+\end{DoxyCode}
+
+\end{DoxyNote}
+This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.
+
+use camera device node number to init unitree stereo camera 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em device\+Node} & camera device node, for example\+: /dev/video0, camera device node\+: 0 \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+\hyperlink{class_stereo_camera_a6d9ac42b50dc07f5f846336ffd29e752}{StereoCamera}(0); \textcolor{comment}{// for /dev/video0}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_unitree_camera_aefb112b0fa677221163ddd18ccf08d8c}\label{class_unitree_camera_aefb112b0fa677221163ddd18ccf08d8c}} 
+\index{Unitree\+Camera@{Unitree\+Camera}!````~Unitree\+Camera@{$\sim$\+Unitree\+Camera}}
+\index{````~Unitree\+Camera@{$\sim$\+Unitree\+Camera}!Unitree\+Camera@{Unitree\+Camera}}
+\subsubsection{\texorpdfstring{$\sim$\+Unitree\+Camera()}{~UnitreeCamera()}}
+{\footnotesize\ttfamily Unitree\+Camera\+::$\sim$\+Unitree\+Camera (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})}
+
+
+
+\hyperlink{class_unitree_camera}{Unitree\+Camera} destructor. 
+
+release all unitree stereo camera resource 
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em None} & \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+automatically called when \hyperlink{class_unitree_camera}{Unitree\+Camera} object released 
+\end{DoxyNote}
+
+
+\subsection{Member Function Documentation}
+\mbox{\Hypertarget{class_unitree_camera_a45e182540ab4bb59b68fb07c23bdd91f}\label{class_unitree_camera_a45e182540ab4bb59b68fb07c23bdd91f}} 
+\index{Unitree\+Camera@{Unitree\+Camera}!check\+Firmware\+Version@{check\+Firmware\+Version}}
+\index{check\+Firmware\+Version@{check\+Firmware\+Version}!Unitree\+Camera@{Unitree\+Camera}}
+\subsubsection{\texorpdfstring{check\+Firmware\+Version()}{checkFirmwareVersion()}}
+{\footnotesize\ttfamily bool Unitree\+Camera\+::check\+Firmware\+Version (\begin{DoxyParamCaption}\item[{std\+::string \&}]{version }\end{DoxyParamCaption})}
+
+
+
+check camera\textquotesingle{}s firmware version 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em version} & firmware version \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_unitree_camera_ab056c2e429ec5d91b7e838c18cbd0d73}\label{class_unitree_camera_ab056c2e429ec5d91b7e838c18cbd0d73}} 
+\index{Unitree\+Camera@{Unitree\+Camera}!update\+Calib\+Params2\+Flash@{update\+Calib\+Params2\+Flash}}
+\index{update\+Calib\+Params2\+Flash@{update\+Calib\+Params2\+Flash}!Unitree\+Camera@{Unitree\+Camera}}
+\subsubsection{\texorpdfstring{update\+Calib\+Params2\+Flash()}{updateCalibParams2Flash()}}
+{\footnotesize\ttfamily bool Unitree\+Camera\+::update\+Calib\+Params2\+Flash (\begin{DoxyParamCaption}\item[{std\+::string}]{file\+Name }\end{DoxyParamCaption})}
+
+
+
+update camera calibrate parameters 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & calibration parameters file \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+\mbox{\Hypertarget{class_unitree_camera_abd0fd0e03ac98f90905ea582e4f397a7}\label{class_unitree_camera_abd0fd0e03ac98f90905ea582e4f397a7}} 
+\index{Unitree\+Camera@{Unitree\+Camera}!update\+Firmware@{update\+Firmware}}
+\index{update\+Firmware@{update\+Firmware}!Unitree\+Camera@{Unitree\+Camera}}
+\subsubsection{\texorpdfstring{update\+Firmware()}{updateFirmware()}}
+{\footnotesize\ttfamily bool Unitree\+Camera\+::update\+Firmware (\begin{DoxyParamCaption}\item[{std\+::string}]{file\+Name }\end{DoxyParamCaption})}
+
+
+
+update camera\textquotesingle{}s firmware 
+
+
+\begin{DoxyParams}[1]{Parameters}
+\mbox{\tt in}  & {\em file\+Name} & firmware file \\
+\hline
+\mbox{\tt out}  & {\em None} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+None 
+\end{DoxyReturn}
+\begin{DoxyNote}{Note}
+
+\begin{DoxyCode}
+\end{DoxyCode}
+ 
+\end{DoxyNote}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+include/\hyperlink{_unitree_camera_s_d_k_8hpp}{Unitree\+Camera\+S\+D\+K.\+hpp}\item 
+src/Unitree\+Camera\+S\+D\+K.\+cc\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__coll__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__coll__graph.md5
new file mode 100644
index 0000000..9dbefd9
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__coll__graph.md5
@@ -0,0 +1 @@
+1d59f91fa0091eca3d93e500505cc98b
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__coll__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..f52d373dcd5c6d6fbc88b3aaa843e51a1df3164b
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__inherit__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__inherit__graph.md5
new file mode 100644
index 0000000..4fdf7f8
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__inherit__graph.md5
@@ -0,0 +1 @@
+0012d1ec33f212fdbdec5f18813c12ae
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__inherit__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/class_unitree_camera__inherit__graph.pdf
new file mode 100644
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher.tex b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher.tex
new file mode 100644
index 0000000..ebb7311
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher.tex
@@ -0,0 +1,67 @@
+\hypertarget{classglwindow_1_1_event_dispatcher}{}\section{glwindow\+:\+:Event\+Dispatcher Class Reference}
+\label{classglwindow_1_1_event_dispatcher}\index{glwindow\+::\+Event\+Dispatcher@{glwindow\+::\+Event\+Dispatcher}}
+
+
+Inheritance diagram for glwindow\+:\+:Event\+Dispatcher\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=216pt]{classglwindow_1_1_event_dispatcher__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for glwindow\+:\+:Event\+Dispatcher\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=216pt]{classglwindow_1_1_event_dispatcher__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_af6bc815caa60cb9c6781db5f0756e414}\label{classglwindow_1_1_event_dispatcher_af6bc815caa60cb9c6781db5f0756e414}} 
+{\bfseries Event\+Dispatcher} (const std\+::vector$<$ \hyperlink{structglwindow_1_1_event_handler}{Event\+Handler} $\ast$$>$ \&h)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_a101905128b1a416fbd9bf1adab9bcc44}\label{classglwindow_1_1_event_dispatcher_a101905128b1a416fbd9bf1adab9bcc44}} 
+bool {\bfseries on\+\_\+key\+\_\+down} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int key)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_ac75bcbcdd9411c5f84b99764da2206a4}\label{classglwindow_1_1_event_dispatcher_ac75bcbcdd9411c5f84b99764da2206a4}} 
+bool {\bfseries on\+\_\+key\+\_\+up} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int key)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_aeae6ae67e9384d2cec6058fc603d065c}\label{classglwindow_1_1_event_dispatcher_aeae6ae67e9384d2cec6058fc603d065c}} 
+bool {\bfseries on\+\_\+text} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, const char $\ast$text, int len)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_ab3484ee0cfdc125d1d25550b3065aa90}\label{classglwindow_1_1_event_dispatcher_ab3484ee0cfdc125d1d25550b3065aa90}} 
+bool {\bfseries on\+\_\+button\+\_\+down} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int btn, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_a0ab408899d7b617c82623596a4f46e67}\label{classglwindow_1_1_event_dispatcher_a0ab408899d7b617c82623596a4f46e67}} 
+bool {\bfseries on\+\_\+button\+\_\+up} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int btn, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_a5669333f26e662e6afdb9aede5d6fd54}\label{classglwindow_1_1_event_dispatcher_a5669333f26e662e6afdb9aede5d6fd54}} 
+bool {\bfseries on\+\_\+mouse\+\_\+move} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_abdffd623813b637a85568664ac8918f2}\label{classglwindow_1_1_event_dispatcher_abdffd623813b637a85568664ac8918f2}} 
+bool {\bfseries on\+\_\+mouse\+\_\+wheel} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int state, int x, int y, int dx, int dy)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_ac9c42e34d486adaf04fa9e6bba360439}\label{classglwindow_1_1_event_dispatcher_ac9c42e34d486adaf04fa9e6bba360439}} 
+bool {\bfseries on\+\_\+resize} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int x, int y, int w, int h)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_af6e45a1615779b918fd94db1d0c4be32}\label{classglwindow_1_1_event_dispatcher_af6e45a1615779b918fd94db1d0c4be32}} 
+bool {\bfseries on\+\_\+close} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win)
+\end{DoxyCompactItemize}
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_event_dispatcher_ad110818c4668576c63d182e91070fbd7}\label{classglwindow_1_1_event_dispatcher_ad110818c4668576c63d182e91070fbd7}} 
+const std\+::vector$<$ \hyperlink{structglwindow_1_1_event_handler}{Event\+Handler} $\ast$ $>$ \& {\bfseries handlers}
+\end{DoxyCompactItemize}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+examples/gl\+Viewer/glwindow.\+hpp\item 
+examples/gl\+Viewer/glwindow\+\_\+x11.\+cpp\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__coll__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__coll__graph.md5
new file mode 100644
index 0000000..0fe295a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__coll__graph.md5
@@ -0,0 +1 @@
+1bb7c19f671d9dcd269f50236d8d1ccd
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__coll__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__coll__graph.pdf
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index 0000000000000000000000000000000000000000..7762f35538d9b0204616c185e17eed0ca2846923
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__inherit__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__inherit__graph.md5
new file mode 100644
index 0000000..0c3ae0f
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__inherit__graph.md5
@@ -0,0 +1 @@
+28845a8b7f220f643a80a9a10fb611c2
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__inherit__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_event_dispatcher__inherit__graph.pdf
new file mode 100644
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_g_l_window.tex b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_g_l_window.tex
new file mode 100644
index 0000000..4b32bb6
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_g_l_window.tex
@@ -0,0 +1,115 @@
+\hypertarget{classglwindow_1_1_g_l_window}{}\section{glwindow\+:\+:G\+L\+Window Class Reference}
+\label{classglwindow_1_1_g_l_window}\index{glwindow\+::\+G\+L\+Window@{glwindow\+::\+G\+L\+Window}}
+
+
+Collaboration diagram for glwindow\+:\+:G\+L\+Window\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=276pt]{classglwindow_1_1_g_l_window__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \hyperlink{structglwindow_1_1_g_l_window_1_1_scoped_context}{Scoped\+Context}
+\item 
+struct \hyperlink{struct_g_l_window_1_1_system_state}{System\+State}
+\end{DoxyCompactItemize}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_af9e5d6539cdf2b606f7f83959cba4d91}\label{classglwindow_1_1_g_l_window_af9e5d6539cdf2b606f7f83959cba4d91}} 
+{\bfseries G\+L\+Window} (int w=-\/1, int h=-\/1, const char $\ast$title=0)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_ae10e25d700ab0697b2ed42d66a8e4540}\label{classglwindow_1_1_g_l_window_ae10e25d700ab0697b2ed42d66a8e4540}} 
+int {\bfseries width} () const
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_aa3ca7cb6e058f1eef4dd769664f98b14}\label{classglwindow_1_1_g_l_window_aa3ca7cb6e058f1eef4dd769664f98b14}} 
+int {\bfseries height} () const
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a0791d0c8205ba2c2541903cf258a58f4}\label{classglwindow_1_1_g_l_window_a0791d0c8205ba2c2541903cf258a58f4}} 
+bool {\bfseries visible} () const
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a8a3a6133efd40d58e6b083469c286825}\label{classglwindow_1_1_g_l_window_a8a3a6133efd40d58e6b083469c286825}} 
+bool {\bfseries alive} () const
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_aee36cf4ab449a96fcaa0f01cd382c618}\label{classglwindow_1_1_g_l_window_aee36cf4ab449a96fcaa0f01cd382c618}} 
+bool {\bfseries make\+\_\+current} ()
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_ad3e8ca520080b92dd961b4d6708a011a}\label{classglwindow_1_1_g_l_window_ad3e8ca520080b92dd961b4d6708a011a}} 
+bool {\bfseries push\+\_\+context} ()
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_ac3dc676910b6a4f09616e2a3d41ef8ac}\label{classglwindow_1_1_g_l_window_ac3dc676910b6a4f09616e2a3d41ef8ac}} 
+void {\bfseries pop\+\_\+context} ()
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a82eaf4b8f8f86ee3cf0cef21aef2a4bd}\label{classglwindow_1_1_g_l_window_a82eaf4b8f8f86ee3cf0cef21aef2a4bd}} 
+void {\bfseries swap\+\_\+buffers} ()
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a6e13fa434eb57f3338da78362b225fde}\label{classglwindow_1_1_g_l_window_a6e13fa434eb57f3338da78362b225fde}} 
+void {\bfseries set\+\_\+size} (int w, int h)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_aa60bf838a81fafa38120424a25a2adef}\label{classglwindow_1_1_g_l_window_aa60bf838a81fafa38120424a25a2adef}} 
+void {\bfseries set\+\_\+position} (int x, int y)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_ae6a1274fab8ba6831681c43964f97a87}\label{classglwindow_1_1_g_l_window_ae6a1274fab8ba6831681c43964f97a87}} 
+void {\bfseries set\+\_\+title} (const char $\ast$title)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a00d9e2f4d0e7d3696e32a38df005299b}\label{classglwindow_1_1_g_l_window_a00d9e2f4d0e7d3696e32a38df005299b}} 
+void {\bfseries add\+\_\+handler} (\hyperlink{structglwindow_1_1_event_handler}{Event\+Handler} $\ast$handler)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a13a72e01ab5ee8926dc401f0231d32d3}\label{classglwindow_1_1_g_l_window_a13a72e01ab5ee8926dc401f0231d32d3}} 
+bool {\bfseries remove\+\_\+handler} (\hyperlink{structglwindow_1_1_event_handler}{Event\+Handler} $\ast$handler)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_adc3ad89ccb14a800919947c55f4f8f81}\label{classglwindow_1_1_g_l_window_adc3ad89ccb14a800919947c55f4f8f81}} 
+void {\bfseries handle\+\_\+events} ()
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a9a6d66c63bfc4796fd10927da3e3114f}\label{classglwindow_1_1_g_l_window_a9a6d66c63bfc4796fd10927da3e3114f}} 
+void {\bfseries destroy} ()
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a1a8c3e1e280e4c5403a478f5229a3320}\label{classglwindow_1_1_g_l_window_a1a8c3e1e280e4c5403a478f5229a3320}} 
+void {\bfseries draw\+\_\+text} (double x, double y, const char $\ast$text, int xywh\mbox{[}4\mbox{]}=0)
+\end{DoxyCompactItemize}
+\subsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a00458901c7cca772aba1e37c7ae11da5}\label{classglwindow_1_1_g_l_window_a00458901c7cca772aba1e37c7ae11da5}} 
+static void {\bfseries handle\+\_\+all\+\_\+events} ()
+\end{DoxyCompactItemize}
+\subsection*{Static Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a6ec4437b302fad937613bbc7305b54af}\label{classglwindow_1_1_g_l_window_a6ec4437b302fad937613bbc7305b54af}} 
+static void {\bfseries add\+\_\+window} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} $\ast$win)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a20ba7d81fc374904b55ec40e3fb19a52}\label{classglwindow_1_1_g_l_window_a20ba7d81fc374904b55ec40e3fb19a52}} 
+static bool {\bfseries remove\+\_\+window} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} $\ast$win)
+\end{DoxyCompactItemize}
+\subsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a362305bae97dad5418748841d7691694}\label{classglwindow_1_1_g_l_window_a362305bae97dad5418748841d7691694}} 
+\hyperlink{struct_g_l_window_1_1_system_state}{System\+State} $\ast$ {\bfseries sys\+\_\+state}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a63eb370b84f35a788b4831e7e8ebb883}\label{classglwindow_1_1_g_l_window_a63eb370b84f35a788b4831e7e8ebb883}} 
+std\+::vector$<$ \hyperlink{structglwindow_1_1_event_handler}{Event\+Handler} $\ast$ $>$ {\bfseries handlers}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a1b26b56139bda79015c4acd5082af29b}\label{classglwindow_1_1_g_l_window_a1b26b56139bda79015c4acd5082af29b}} 
+\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} $\ast$ {\bfseries prev\+\_\+active}
+\end{DoxyCompactItemize}
+\subsection*{Static Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_ae9a8057a689a57a27f923bc745de4bf8}\label{classglwindow_1_1_g_l_window_ae9a8057a689a57a27f923bc745de4bf8}} 
+static \hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} $\ast$ {\bfseries active\+\_\+context} = 0
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_g_l_window_a53cc9ed919e7251c9a33bf5f9197375c}\label{classglwindow_1_1_g_l_window_a53cc9ed919e7251c9a33bf5f9197375c}} 
+static std\+::vector$<$ \hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} $\ast$ $>$ {\bfseries all\+\_\+windows}
+\end{DoxyCompactItemize}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+examples/gl\+Viewer/glwindow.\+hpp\item 
+examples/gl\+Viewer/glwindow\+\_\+x11.\+cpp\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_g_l_window__coll__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_g_l_window__coll__graph.md5
new file mode 100644
index 0000000..5b5aebc
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_g_l_window__coll__graph.md5
@@ -0,0 +1 @@
+8d8a2cbfaa89cd6aa1b2fcc0c3c4569d
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_g_l_window__coll__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_g_l_window__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..f231d86ebe43377fc573e219f6a73b0428dbe7c6
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window.tex b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window.tex
new file mode 100644
index 0000000..1f1867e
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window.tex
@@ -0,0 +1,105 @@
+\hypertarget{classglwindow_1_1_scene_window}{}\section{glwindow\+:\+:Scene\+Window Class Reference}
+\label{classglwindow_1_1_scene_window}\index{glwindow\+::\+Scene\+Window@{glwindow\+::\+Scene\+Window}}
+
+
+Inheritance diagram for glwindow\+:\+:Scene\+Window\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=206pt]{classglwindow_1_1_scene_window__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for glwindow\+:\+:Scene\+Window\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classglwindow_1_1_scene_window__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \hyperlink{structglwindow_1_1_scene_window_1_1_viewpoint}{Viewpoint}
+\end{DoxyCompactItemize}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a41959b518db30a3ab785492f1ac010fd}\label{classglwindow_1_1_scene_window_a41959b518db30a3ab785492f1ac010fd}} 
+{\bfseries Scene\+Window} (int width, int height, const char $\ast$title)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a2e960ccafe493ce9e71418a03bf88301}\label{classglwindow_1_1_scene_window_a2e960ccafe493ce9e71418a03bf88301}} 
+void {\bfseries update} ()
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_af3c36c90d57620298fd2796ced9af848}\label{classglwindow_1_1_scene_window_af3c36c90d57620298fd2796ced9af848}} 
+bool {\bfseries start\+\_\+draw} ()
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_ab0688f7612cdaa8b06b86a3979abcdf4}\label{classglwindow_1_1_scene_window_ab0688f7612cdaa8b06b86a3979abcdf4}} 
+void {\bfseries finish\+\_\+draw} ()
+\end{DoxyCompactItemize}
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a0946d9bab275dab533fe778af5d3ec7a}\label{classglwindow_1_1_scene_window_a0946d9bab275dab533fe778af5d3ec7a}} 
+\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} {\bfseries win}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_aac5dd0d07cb2dd42aa044622c6d7de6b}\label{classglwindow_1_1_scene_window_aac5dd0d07cb2dd42aa044622c6d7de6b}} 
+\hyperlink{structglwindow_1_1_scene_window_1_1_viewpoint}{Viewpoint} {\bfseries viewpoint}
+\end{DoxyCompactItemize}
+\subsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a1482ec985ea436cb29e8da14cf7c55b5}\label{classglwindow_1_1_scene_window_a1482ec985ea436cb29e8da14cf7c55b5}} 
+bool {\bfseries on\+\_\+key\+\_\+down} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int key)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a75cabfd481bb531d37ee5637c207311e}\label{classglwindow_1_1_scene_window_a75cabfd481bb531d37ee5637c207311e}} 
+bool {\bfseries on\+\_\+button\+\_\+down} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int btn, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a10c408229e2f6baea755a07e56a28644}\label{classglwindow_1_1_scene_window_a10c408229e2f6baea755a07e56a28644}} 
+bool {\bfseries on\+\_\+button\+\_\+up} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int btn, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a3c67279c10c4cff40aacac9571091f12}\label{classglwindow_1_1_scene_window_a3c67279c10c4cff40aacac9571091f12}} 
+bool {\bfseries on\+\_\+mouse\+\_\+move} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a0186ad496adbcc11ada5ac24f4d7f37d}\label{classglwindow_1_1_scene_window_a0186ad496adbcc11ada5ac24f4d7f37d}} 
+bool {\bfseries on\+\_\+mouse\+\_\+wheel} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int state, int x, int y, int dx, int dy)
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a932e76733ea8d6197ec9453c1ef09553}\label{classglwindow_1_1_scene_window_a932e76733ea8d6197ec9453c1ef09553}} 
+bool {\bfseries on\+\_\+resize} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int x, int y, int w, int h)
+\end{DoxyCompactItemize}
+\subsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a7d77c829486011d04815eeb114919d71}\label{classglwindow_1_1_scene_window_a7d77c829486011d04815eeb114919d71}} 
+bool {\bfseries dragging}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_aeb7b1933324b7e32ef1c27496e398843}\label{classglwindow_1_1_scene_window_aeb7b1933324b7e32ef1c27496e398843}} 
+int {\bfseries drag\+\_\+btn}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a92ed7e285bc0c1f72bbe34830c2fa839}\label{classglwindow_1_1_scene_window_a92ed7e285bc0c1f72bbe34830c2fa839}} 
+int {\bfseries x0}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a5a7ef8f289c9ef5d4546099724bfff77}\label{classglwindow_1_1_scene_window_a5a7ef8f289c9ef5d4546099724bfff77}} 
+int {\bfseries y0}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a261ceaff788f0d6c2d01ca71d2b268c7}\label{classglwindow_1_1_scene_window_a261ceaff788f0d6c2d01ca71d2b268c7}} 
+double {\bfseries inv\+\_\+w0}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_acb85c5bbf1a1e7152b5518c298e9e6cb}\label{classglwindow_1_1_scene_window_acb85c5bbf1a1e7152b5518c298e9e6cb}} 
+double {\bfseries inv\+\_\+h0}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a331e548ff2c83c970ca9ebddcd04581c}\label{classglwindow_1_1_scene_window_a331e548ff2c83c970ca9ebddcd04581c}} 
+\hyperlink{structglwindow_1_1_scene_window_1_1_viewpoint}{Viewpoint} {\bfseries vp0}
+\item 
+\mbox{\Hypertarget{classglwindow_1_1_scene_window_a93a5025d20cd92db7bf541764fe32b93}\label{classglwindow_1_1_scene_window_a93a5025d20cd92db7bf541764fe32b93}} 
+bool {\bfseries drawing}
+\end{DoxyCompactItemize}
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+examples/gl\+Viewer/scenewindow.\+hpp\item 
+examples/gl\+Viewer/scenewindow.\+cpp\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__coll__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__coll__graph.md5
new file mode 100644
index 0000000..d640c14
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__coll__graph.md5
@@ -0,0 +1 @@
+87cd063d63fadf3da265a8b3725f151a
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__coll__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..7def99c73d618fd8f94867de2697627929ea36f5
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__inherit__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__inherit__graph.md5
new file mode 100644
index 0000000..6911b0f
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__inherit__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/classglwindow_1_1_scene_window__inherit__graph.pdf
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HcmV?d00001

diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classinfo__camera___string.tex b/src/Robot/UnitreecameraSDK/doc/latex/classinfo__camera___string.tex
new file mode 100644
index 0000000..a3431b1
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classinfo__camera___string.tex
@@ -0,0 +1,19 @@
+\hypertarget{classinfo__camera___string}{}\section{info\+\_\+camera\+\_\+\+String Class Reference}
+\label{classinfo__camera___string}\index{info\+\_\+camera\+\_\+\+String@{info\+\_\+camera\+\_\+\+String}}
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classinfo__camera___string_a534901ae79a44cbd9e298e237fa4fc0f}\label{classinfo__camera___string_a534901ae79a44cbd9e298e237fa4fc0f}} 
+char {\bfseries i\+Manufacturer} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]}
+\item 
+\mbox{\Hypertarget{classinfo__camera___string_a7760c615973f721307ccc15d291b82dd}\label{classinfo__camera___string_a7760c615973f721307ccc15d291b82dd}} 
+char {\bfseries i\+Product} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]}
+\item 
+\mbox{\Hypertarget{classinfo__camera___string_aa36e331d9d8aa31382774bdd0a22f23e}\label{classinfo__camera___string_aa36e331d9d8aa31382774bdd0a22f23e}} 
+char {\bfseries i\+Serial\+Number} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]}
+\end{DoxyCompactItemize}
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+src/camera\+\_\+api.\+h\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/classinfo__camera__os.tex b/src/Robot/UnitreecameraSDK/doc/latex/classinfo__camera__os.tex
new file mode 100644
index 0000000..42f7c32
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/classinfo__camera__os.tex
@@ -0,0 +1,37 @@
+\hypertarget{classinfo__camera__os}{}\section{info\+\_\+camera\+\_\+os Class Reference}
+\label{classinfo__camera__os}\index{info\+\_\+camera\+\_\+os@{info\+\_\+camera\+\_\+os}}
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_a3cda29196c1943c0312f89220c635872}\label{classinfo__camera__os_a3cda29196c1943c0312f89220c635872}} 
+W\+O\+RD {\bfseries vid}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_a939af1154643fade0a13b89640955244}\label{classinfo__camera__os_a939af1154643fade0a13b89640955244}} 
+W\+O\+RD {\bfseries pid}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_a5634876a9841ff0a903a06e224213287}\label{classinfo__camera__os_a5634876a9841ff0a903a06e224213287}} 
+W\+O\+RD {\bfseries bcd\+Device}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_a9e417bafcff3ee428bfdf2510047dd80}\label{classinfo__camera__os_a9e417bafcff3ee428bfdf2510047dd80}} 
+char {\bfseries device\+ID} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_a47c4e49f8d85be806ad67a052330483f}\label{classinfo__camera__os_a47c4e49f8d85be806ad67a052330483f}} 
+char {\bfseries device} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_a18e02e7605102fc883644a840c4d000d}\label{classinfo__camera__os_a18e02e7605102fc883644a840c4d000d}} 
+B\+Y\+TE {\bfseries ic\+Type}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_a85043a073c9215c6957c2df585d8fcb2}\label{classinfo__camera__os_a85043a073c9215c6957c2df585d8fcb2}} 
+uint64\+\_\+t {\bfseries busnum}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_ae82dc3a3a9af8c1b0a6c10b3ac2415bf}\label{classinfo__camera__os_ae82dc3a3a9af8c1b0a6c10b3ac2415bf}} 
+uint64\+\_\+t {\bfseries devnum}
+\item 
+\mbox{\Hypertarget{classinfo__camera__os_a37e158cee8c551ed73bb67c7647dfed9}\label{classinfo__camera__os_a37e158cee8c551ed73bb67c7647dfed9}} 
+char {\bfseries location} \mbox{[}M\+A\+X\+\_\+\+P\+A\+TH\mbox{]}
+\end{DoxyCompactItemize}
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+src/camera\+\_\+api.\+h\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_209c714a154efd8d40a59e92e6a74502.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_209c714a154efd8d40a59e92e6a74502.tex
new file mode 100644
index 0000000..34c605c
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_209c714a154efd8d40a59e92e6a74502.tex
@@ -0,0 +1,2 @@
+\hypertarget{dir_209c714a154efd8d40a59e92e6a74502}{}\section{build/\+C\+Make\+Files/3.14.6/\+Compiler\+IdC Directory Reference}
+\label{dir_209c714a154efd8d40a59e92e6a74502}\index{build/\+C\+Make\+Files/3.\+14.\+6/\+Compiler\+Id\+C Directory Reference@{build/\+C\+Make\+Files/3.\+14.\+6/\+Compiler\+Id\+C Directory Reference}}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_3a56b08581502e42e7c33d229017cb82.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_3a56b08581502e42e7c33d229017cb82.tex
new file mode 100644
index 0000000..d599cb0
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_3a56b08581502e42e7c33d229017cb82.tex
@@ -0,0 +1,5 @@
+\hypertarget{dir_3a56b08581502e42e7c33d229017cb82}{}\section{build/\+C\+Make\+Files/3.14.6 Directory Reference}
+\label{dir_3a56b08581502e42e7c33d229017cb82}\index{build/\+C\+Make\+Files/3.\+14.\+6 Directory Reference@{build/\+C\+Make\+Files/3.\+14.\+6 Directory Reference}}
+\subsection*{Directories}
+\begin{DoxyCompactItemize}
+\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_4eeb864c4eec08c7d6b9d3b0352cfdde.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_4eeb864c4eec08c7d6b9d3b0352cfdde.tex
new file mode 100644
index 0000000..85fbb68
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_4eeb864c4eec08c7d6b9d3b0352cfdde.tex
@@ -0,0 +1,10 @@
+\hypertarget{dir_4eeb864c4eec08c7d6b9d3b0352cfdde}{}\section{tools Directory Reference}
+\label{dir_4eeb864c4eec08c7d6b9d3b0352cfdde}\index{tools Directory Reference@{tools Directory Reference}}
+Directory dependency graph for tools\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=134pt]{dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep}
+\end{center}
+\end{figure}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.md5 b/src/Robot/UnitreecameraSDK/doc/latex/dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.md5
new file mode 100644
index 0000000..df41d98
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.md5
@@ -0,0 +1 @@
+96d321e00c4e5ae1269226ed3cd0f67d
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.pdf b/src/Robot/UnitreecameraSDK/doc/latex/dir_4eeb864c4eec08c7d6b9d3b0352cfdde_dep.pdf
new file mode 100644
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_4fef79e7177ba769987a8da36c892c5f.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_4fef79e7177ba769987a8da36c892c5f.tex
new file mode 100644
index 0000000..4a061f4
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_4fef79e7177ba769987a8da36c892c5f.tex
@@ -0,0 +1,5 @@
+\hypertarget{dir_4fef79e7177ba769987a8da36c892c5f}{}\section{build Directory Reference}
+\label{dir_4fef79e7177ba769987a8da36c892c5f}\index{build Directory Reference@{build Directory Reference}}
+\subsection*{Directories}
+\begin{DoxyCompactItemize}
+\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_63772b626f2709090f0bdca0f40827b4.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_63772b626f2709090f0bdca0f40827b4.tex
new file mode 100644
index 0000000..26bf776
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_63772b626f2709090f0bdca0f40827b4.tex
@@ -0,0 +1,2 @@
+\hypertarget{dir_63772b626f2709090f0bdca0f40827b4}{}\section{build/\+C\+Make\+Files Directory Reference}
+\label{dir_63772b626f2709090f0bdca0f40827b4}\index{build/\+C\+Make\+Files Directory Reference@{build/\+C\+Make\+Files Directory Reference}}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_68267d1309a1af8e8297ef4c3efbcdba.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_68267d1309a1af8e8297ef4c3efbcdba.tex
new file mode 100644
index 0000000..ea8cb5a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_68267d1309a1af8e8297ef4c3efbcdba.tex
@@ -0,0 +1,15 @@
+\hypertarget{dir_68267d1309a1af8e8297ef4c3efbcdba}{}\section{src Directory Reference}
+\label{dir_68267d1309a1af8e8297ef4c3efbcdba}\index{src Directory Reference@{src Directory Reference}}
+Directory dependency graph for src\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=134pt]{dir_68267d1309a1af8e8297ef4c3efbcdba_dep}
+\end{center}
+\end{figure}
+\subsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \hyperlink{_stereo_camera_common_8cc}{Stereo\+Camera\+Common.\+cc}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK, which implement stereo vision algorithm. \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5 b/src/Robot/UnitreecameraSDK/doc/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5
new file mode 100644
index 0000000..2576efc
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.pdf b/src/Robot/UnitreecameraSDK/doc/latex/dir_68267d1309a1af8e8297ef4c3efbcdba_dep.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_8a35f475ed9d8a5443c1993b236eb8f6.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_8a35f475ed9d8a5443c1993b236eb8f6.tex
new file mode 100644
index 0000000..7d072ab
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_8a35f475ed9d8a5443c1993b236eb8f6.tex
@@ -0,0 +1,2 @@
+\hypertarget{dir_8a35f475ed9d8a5443c1993b236eb8f6}{}\section{build/\+C\+Make\+Files/3.14.6/\+Compiler\+Id\+C\+XX Directory Reference}
+\label{dir_8a35f475ed9d8a5443c1993b236eb8f6}\index{build/\+C\+Make\+Files/3.\+14.\+6/\+Compiler\+Id\+C\+X\+X Directory Reference@{build/\+C\+Make\+Files/3.\+14.\+6/\+Compiler\+Id\+C\+X\+X Directory Reference}}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_8d5e63337d9bc0375b6fa20fd80d83ec.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_8d5e63337d9bc0375b6fa20fd80d83ec.tex
new file mode 100644
index 0000000..1f5432f
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_8d5e63337d9bc0375b6fa20fd80d83ec.tex
@@ -0,0 +1,2 @@
+\hypertarget{dir_8d5e63337d9bc0375b6fa20fd80d83ec}{}\section{examples/gl\+Viewer Directory Reference}
+\label{dir_8d5e63337d9bc0375b6fa20fd80d83ec}\index{examples/gl\+Viewer Directory Reference@{examples/gl\+Viewer Directory Reference}}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4.tex
new file mode 100644
index 0000000..c0e3a0a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4.tex
@@ -0,0 +1,26 @@
+\hypertarget{dir_d28a4824dc47e487b107a5db32ef43c4}{}\section{examples Directory Reference}
+\label{dir_d28a4824dc47e487b107a5db32ef43c4}\index{examples Directory Reference@{examples Directory Reference}}
+Directory dependency graph for examples\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=244pt]{dir_d28a4824dc47e487b107a5db32ef43c4_dep}
+\end{center}
+\end{figure}
+\subsection*{Directories}
+\begin{DoxyCompactItemize}
+\end{DoxyCompactItemize}
+\subsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \hyperlink{example__get_calib_params_file_8cc}{example\+\_\+get\+Calib\+Params\+File.\+cc}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\item 
+file \hyperlink{example__get_depth_frame_8cc}{example\+\_\+get\+Depth\+Frame.\+cc}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\item 
+file \hyperlink{example__get_point_cloud_8cc}{example\+\_\+get\+Point\+Cloud.\+cc}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\item 
+file \hyperlink{example__get_raw_frame_8cc}{example\+\_\+get\+Raw\+Frame.\+cc}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\item 
+file \hyperlink{example__get_rect_frame_8cc}{example\+\_\+get\+Rect\+Frame.\+cc}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK. \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5 b/src/Robot/UnitreecameraSDK/doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5
new file mode 100644
index 0000000..60711e1
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4_dep.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4_dep.pdf b/src/Robot/UnitreecameraSDK/doc/latex/dir_d28a4824dc47e487b107a5db32ef43c4_dep.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/dir_d44c64559bbebec7f509842c48db8b23.tex b/src/Robot/UnitreecameraSDK/doc/latex/dir_d44c64559bbebec7f509842c48db8b23.tex
new file mode 100644
index 0000000..d7c4a64
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/dir_d44c64559bbebec7f509842c48db8b23.tex
@@ -0,0 +1,11 @@
+\hypertarget{dir_d44c64559bbebec7f509842c48db8b23}{}\section{include Directory Reference}
+\label{dir_d44c64559bbebec7f509842c48db8b23}\index{include Directory Reference@{include Directory Reference}}
+\subsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \hyperlink{_stereo_camera_common_8hpp}{Stereo\+Camera\+Common.\+hpp}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK, which declare stereo camera algorithm A\+P\+Is. \end{DoxyCompactList}\item 
+file \hyperlink{_system_log_8hpp}{System\+Log.\+hpp}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK, which declare the A\+P\+Is of log system. \end{DoxyCompactList}\item 
+file \hyperlink{_unitree_camera_s_d_k_8hpp}{Unitree\+Camera\+S\+D\+K.\+hpp}
+\begin{DoxyCompactList}\small\item\em This file is part of Unitree\+Camera\+S\+DK, which declare unitree camera A\+P\+Is. \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/doxygen.sty b/src/Robot/UnitreecameraSDK/doc/latex/doxygen.sty
new file mode 100644
index 0000000..e457acc
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_calib_params_file_8cc.tex b/src/Robot/UnitreecameraSDK/doc/latex/example__get_calib_params_file_8cc.tex
new file mode 100644
index 0000000..433b30c
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_calib_params_file_8cc.tex
@@ -0,0 +1,59 @@
+\hypertarget{example__get_calib_params_file_8cc}{}\section{examples/example\+\_\+get\+Calib\+Params\+File.cc File Reference}
+\label{example__get_calib_params_file_8cc}\index{examples/example\+\_\+get\+Calib\+Params\+File.\+cc@{examples/example\+\_\+get\+Calib\+Params\+File.\+cc}}
+
+
+This file is part of Unitree\+Camera\+S\+DK.  
+
+
+{\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline
+{\ttfamily \#include $<$unistd.\+h$>$}\newline
+Include dependency graph for example\+\_\+get\+Calib\+Params\+File.\+cc\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{example__get_calib_params_file_8cc__incl}
+\end{center}
+\end{figure}
+\subsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int \hyperlink{example__get_calib_params_file_8cc_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]})
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK. 
+
+This example that how to get camera internal parameters \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang 
+\end{DoxyAuthor}
+\begin{DoxyDate}{Date}
+2021.\+07.\+31 
+\end{DoxyDate}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
+
+
+\subsection{Function Documentation}
+\mbox{\Hypertarget{example__get_calib_params_file_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_calib_params_file_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 
+\index{example\+\_\+get\+Calib\+Params\+File.\+cc@{example\+\_\+get\+Calib\+Params\+File.\+cc}!main@{main}}
+\index{main@{main}!example\+\_\+get\+Calib\+Params\+File.\+cc@{example\+\_\+get\+Calib\+Params\+File.\+cc}}
+\subsubsection{\texorpdfstring{main()}{main()}}
+{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+$<$ init \hyperlink{class_unitree_camera}{Unitree\+Camera} object by config file
+
+$<$ get camera open state
+
+$<$ disable image h264 encoding and share memory sharing
+
+$<$ wait parameters initialization finished
+
+$<$ save parameters to output\+\_\+cam\+Calib\+Params.\+yaml
+
+$<$ stop camera capturing 
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_calib_params_file_8cc__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/example__get_calib_params_file_8cc__incl.md5
new file mode 100644
index 0000000..e10087d
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_calib_params_file_8cc__incl.md5
@@ -0,0 +1 @@
+67eb2f387eec12c5012cf4c981a1c034
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_calib_params_file_8cc__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/example__get_calib_params_file_8cc__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_depth_frame_8cc.tex b/src/Robot/UnitreecameraSDK/doc/latex/example__get_depth_frame_8cc.tex
new file mode 100644
index 0000000..b62715c
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_depth_frame_8cc.tex
@@ -0,0 +1,61 @@
+\hypertarget{example__get_depth_frame_8cc}{}\section{examples/example\+\_\+get\+Depth\+Frame.cc File Reference}
+\label{example__get_depth_frame_8cc}\index{examples/example\+\_\+get\+Depth\+Frame.\+cc@{examples/example\+\_\+get\+Depth\+Frame.\+cc}}
+
+
+This file is part of Unitree\+Camera\+S\+DK.  
+
+
+{\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline
+{\ttfamily \#include $<$unistd.\+h$>$}\newline
+Include dependency graph for example\+\_\+get\+Depth\+Frame.\+cc\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{example__get_depth_frame_8cc__incl}
+\end{center}
+\end{figure}
+\subsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int \hyperlink{example__get_depth_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]})
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK. 
+
+This example that how to get depth frame \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang 
+\end{DoxyAuthor}
+\begin{DoxyDate}{Date}
+2021.\+07.\+31 
+\end{DoxyDate}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
+
+
+\subsection{Function Documentation}
+\mbox{\Hypertarget{example__get_depth_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_depth_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 
+\index{example\+\_\+get\+Depth\+Frame.\+cc@{example\+\_\+get\+Depth\+Frame.\+cc}!main@{main}}
+\index{main@{main}!example\+\_\+get\+Depth\+Frame.\+cc@{example\+\_\+get\+Depth\+Frame.\+cc}}
+\subsubsection{\texorpdfstring{main()}{main()}}
+{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+$<$ init \hyperlink{class_unitree_camera}{Unitree\+Camera} object by config file
+
+$<$ get camera open state
+
+$<$ disable image h264 encoding and share memory sharing
+
+$<$ start disparity computing
+
+$<$ get stereo camera depth image
+
+$<$ stop disparity computing
+
+$<$ stop camera capturing 
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_depth_frame_8cc__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/example__get_depth_frame_8cc__incl.md5
new file mode 100644
index 0000000..9f54db7
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_depth_frame_8cc__incl.md5
@@ -0,0 +1 @@
+e52a261447db464f9974ff6b507528cf
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_depth_frame_8cc__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/example__get_depth_frame_8cc__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_point_cloud_8cc.tex b/src/Robot/UnitreecameraSDK/doc/latex/example__get_point_cloud_8cc.tex
new file mode 100644
index 0000000..756a442
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_point_cloud_8cc.tex
@@ -0,0 +1,66 @@
+\hypertarget{example__get_point_cloud_8cc}{}\section{examples/example\+\_\+get\+Point\+Cloud.cc File Reference}
+\label{example__get_point_cloud_8cc}\index{examples/example\+\_\+get\+Point\+Cloud.\+cc@{examples/example\+\_\+get\+Point\+Cloud.\+cc}}
+
+
+This file is part of Unitree\+Camera\+S\+DK.  
+
+
+{\ttfamily \#include $<$G\+L/gl.\+h$>$}\newline
+{\ttfamily \#include $<$signal.\+h$>$}\newline
+{\ttfamily \#include $<$cerrno$>$}\newline
+{\ttfamily \#include $<$cfenv$>$}\newline
+{\ttfamily \#include $<$unistd.\+h$>$}\newline
+{\ttfamily \#include \char`\"{}gl\+Viewer/scenewindow.\+hpp\char`\"{}}\newline
+{\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline
+Include dependency graph for example\+\_\+get\+Point\+Cloud.\+cc\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{example__get_point_cloud_8cc__incl}
+\end{center}
+\end{figure}
+\subsection*{Macros}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{example__get_point_cloud_8cc_a252571170a109b31218383613dc16295}\label{example__get_point_cloud_8cc_a252571170a109b31218383613dc16295}} 
+\#define \hyperlink{example__get_point_cloud_8cc_a252571170a109b31218383613dc16295}{R\+G\+B\+\_\+\+P\+CL}~false
+\begin{DoxyCompactList}\small\item\em Color Point Cloud Enable Flag. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\subsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{example__get_point_cloud_8cc_a3ba436e743e30c5f31f98acb33bcd50b}\label{example__get_point_cloud_8cc_a3ba436e743e30c5f31f98acb33bcd50b}} 
+void {\bfseries Draw\+Scene} (const std\+::vector$<$ \hyperlink{struct_p_c_l}{P\+C\+L\+Type} $>$ \&pcl\+\_\+vec)
+\item 
+\mbox{\Hypertarget{example__get_point_cloud_8cc_a27d13c3979cbbf70959fddbf5cc02bb5}\label{example__get_point_cloud_8cc_a27d13c3979cbbf70959fddbf5cc02bb5}} 
+void {\bfseries Draw\+Scene} (const std\+::vector$<$ cv\+::\+Vec3f $>$ \&pcl\+\_\+vec)
+\item 
+\mbox{\Hypertarget{example__get_point_cloud_8cc_a35f9ea2056a80a6c96b5c3ef3c19dafd}\label{example__get_point_cloud_8cc_a35f9ea2056a80a6c96b5c3ef3c19dafd}} 
+void {\bfseries ctrl\+\_\+c\+\_\+handler} (int s)
+\item 
+\mbox{\Hypertarget{example__get_point_cloud_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_point_cloud_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 
+int {\bfseries main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]})
+\end{DoxyCompactItemize}
+\subsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{example__get_point_cloud_8cc_ace2ab20fcac45c041999dbe39df5ee4d}\label{example__get_point_cloud_8cc_ace2ab20fcac45c041999dbe39df5ee4d}} 
+bool {\bfseries kill\+Signal\+Flag} = false
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK. 
+
+This example that how to get camera point cloud. \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang 
+\end{DoxyAuthor}
+\begin{DoxyDate}{Date}
+2021.\+07.\+31 
+\end{DoxyDate}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_point_cloud_8cc__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/example__get_point_cloud_8cc__incl.md5
new file mode 100644
index 0000000..95e6bc9
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_point_cloud_8cc__incl.md5
@@ -0,0 +1 @@
+cbae86784f4960868726ec762da22aab
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_point_cloud_8cc__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/example__get_point_cloud_8cc__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_raw_frame_8cc.tex b/src/Robot/UnitreecameraSDK/doc/latex/example__get_raw_frame_8cc.tex
new file mode 100644
index 0000000..3eaa4e8
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_raw_frame_8cc.tex
@@ -0,0 +1,59 @@
+\hypertarget{example__get_raw_frame_8cc}{}\section{examples/example\+\_\+get\+Raw\+Frame.cc File Reference}
+\label{example__get_raw_frame_8cc}\index{examples/example\+\_\+get\+Raw\+Frame.\+cc@{examples/example\+\_\+get\+Raw\+Frame.\+cc}}
+
+
+This file is part of Unitree\+Camera\+S\+DK.  
+
+
+{\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline
+{\ttfamily \#include $<$unistd.\+h$>$}\newline
+Include dependency graph for example\+\_\+get\+Raw\+Frame.\+cc\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{example__get_raw_frame_8cc__incl}
+\end{center}
+\end{figure}
+\subsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int \hyperlink{example__get_raw_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]})
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK. 
+
+This example that how to get camera raw frame. \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang 
+\end{DoxyAuthor}
+\begin{DoxyDate}{Date}
+2021.\+07.\+31 
+\end{DoxyDate}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
+
+
+\subsection{Function Documentation}
+\mbox{\Hypertarget{example__get_raw_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_raw_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 
+\index{example\+\_\+get\+Raw\+Frame.\+cc@{example\+\_\+get\+Raw\+Frame.\+cc}!main@{main}}
+\index{main@{main}!example\+\_\+get\+Raw\+Frame.\+cc@{example\+\_\+get\+Raw\+Frame.\+cc}}
+\subsubsection{\texorpdfstring{main()}{main()}}
+{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+$<$ init camera by device node number
+
+$<$ set camera frame size
+
+$<$ set camera frame rate
+
+$<$ start camera capturing
+
+$<$ get camera raw image
+
+$<$ stop camera capturing 
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_raw_frame_8cc__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/example__get_raw_frame_8cc__incl.md5
new file mode 100644
index 0000000..cbb9ed4
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_raw_frame_8cc__incl.md5
@@ -0,0 +1 @@
+2064d8bf0d893ce2aa7680ebe60a7a4c
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_raw_frame_8cc__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/example__get_raw_frame_8cc__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc.tex b/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc.tex
new file mode 100644
index 0000000..32ee27c
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc.tex
@@ -0,0 +1,69 @@
+\hypertarget{example__get_rect_frame_8cc}{}\section{examples/example\+\_\+get\+Rect\+Frame.cc File Reference}
+\label{example__get_rect_frame_8cc}\index{examples/example\+\_\+get\+Rect\+Frame.\+cc@{examples/example\+\_\+get\+Rect\+Frame.\+cc}}
+
+
+This file is part of Unitree\+Camera\+S\+DK.  
+
+
+{\ttfamily \#include $<$Unitree\+Camera\+S\+D\+K.\+hpp$>$}\newline
+{\ttfamily \#include $<$unistd.\+h$>$}\newline
+Include dependency graph for example\+\_\+get\+Rect\+Frame.\+cc\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{example__get_rect_frame_8cc__incl}
+\end{center}
+\end{figure}
+\subsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int \hyperlink{example__get_rect_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}{main} (int argc, char $\ast$argv\mbox{[}$\,$\mbox{]})
+\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+This file is part of Unitree\+Camera\+S\+DK. 
+
+This example that how to get depth frame \begin{DoxyAuthor}{Author}
+Zhang\+Chunyang 
+\end{DoxyAuthor}
+\begin{DoxyDate}{Date}
+2021.\+07.\+31 
+\end{DoxyDate}
+\begin{DoxyVersion}{Version}
+1.\+0.\+1 
+\end{DoxyVersion}
+\begin{DoxyCopyright}{Copyright}
+Copyright (c) 2020-\/2021, Hangzhou Yushu Technology Stock C\+O.\+L\+TD. All Rights Reserved. 
+\end{DoxyCopyright}
+
+
+\subsection{Function Documentation}
+\mbox{\Hypertarget{example__get_rect_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}\label{example__get_rect_frame_8cc_a0ddf1224851353fc92bfbff6f499fa97}} 
+\index{example\+\_\+get\+Rect\+Frame.\+cc@{example\+\_\+get\+Rect\+Frame.\+cc}!main@{main}}
+\index{main@{main}!example\+\_\+get\+Rect\+Frame.\+cc@{example\+\_\+get\+Rect\+Frame.\+cc}}
+\subsubsection{\texorpdfstring{main()}{main()}}
+{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char $\ast$}]{argv\mbox{[}$\,$\mbox{]} }\end{DoxyParamCaption})}
+
+$<$ default 0 -\/$>$ /dev/video0
+
+$<$ default frame size 1856x800
+
+$<$ default camera fps\+: 30
+
+$<$ init camera by device node number
+
+$<$ get camera open state
+
+$<$ set camera frame size
+
+$<$ set camera camera fps
+
+$<$ set camera rectify frame size
+
+$<$ disable image h264 encoding and share memory sharing
+
+$<$ get longlat rectify left,right and fisheye rectify feim
+
+$<$ stop camera capturing 
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.md5 b/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.md5
new file mode 100644
index 0000000..c9233ea
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.md5
@@ -0,0 +1 @@
+60ba75fcc076d436c69bebfd7b2d5c94
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.pdf b/src/Robot/UnitreecameraSDK/doc/latex/example__get_rect_frame_8cc__incl.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/files.tex b/src/Robot/UnitreecameraSDK/doc/latex/files.tex
new file mode 100644
index 0000000..6f516e3
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/files.tex
@@ -0,0 +1,15 @@
+\section{File List}
+Here is a list of all documented files with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{examples/\hyperlink{example__get_calib_params_file_8cc}{example\+\_\+get\+Calib\+Params\+File.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_calib_params_file_8cc}}{}
+\item\contentsline{section}{examples/\hyperlink{example__get_depth_frame_8cc}{example\+\_\+get\+Depth\+Frame.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_depth_frame_8cc}}{}
+\item\contentsline{section}{examples/\hyperlink{example__get_point_cloud_8cc}{example\+\_\+get\+Point\+Cloud.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_point_cloud_8cc}}{}
+\item\contentsline{section}{examples/\hyperlink{example__get_raw_frame_8cc}{example\+\_\+get\+Raw\+Frame.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_raw_frame_8cc}}{}
+\item\contentsline{section}{examples/\hyperlink{example__get_rect_frame_8cc}{example\+\_\+get\+Rect\+Frame.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK }{\pageref{example__get_rect_frame_8cc}}{}
+\item\contentsline{section}{examples/gl\+Viewer/{\bfseries glwindow.\+hpp} }{\pageref{glwindow_8hpp}}{}
+\item\contentsline{section}{examples/gl\+Viewer/{\bfseries scenewindow.\+hpp} }{\pageref{scenewindow_8hpp}}{}
+\item\contentsline{section}{include/\hyperlink{_stereo_camera_common_8hpp}{Stereo\+Camera\+Common.\+hpp} \\*This file is part of Unitree\+Camera\+S\+DK, which declare stereo camera algorithm A\+P\+Is }{\pageref{_stereo_camera_common_8hpp}}{}
+\item\contentsline{section}{include/\hyperlink{_system_log_8hpp}{System\+Log.\+hpp} \\*This file is part of Unitree\+Camera\+S\+DK, which declare the A\+P\+Is of log system }{\pageref{_system_log_8hpp}}{}
+\item\contentsline{section}{include/\hyperlink{_unitree_camera_s_d_k_8hpp}{Unitree\+Camera\+S\+D\+K.\+hpp} \\*This file is part of Unitree\+Camera\+S\+DK, which declare unitree camera A\+P\+Is }{\pageref{_unitree_camera_s_d_k_8hpp}}{}
+\item\contentsline{section}{src/{\bfseries camera\+\_\+api.\+h} }{\pageref{camera__api_8h}}{}
+\item\contentsline{section}{src/\hyperlink{_stereo_camera_common_8cc}{Stereo\+Camera\+Common.\+cc} \\*This file is part of Unitree\+Camera\+S\+DK, which implement stereo vision algorithm }{\pageref{_stereo_camera_common_8cc}}{}
+\end{DoxyCompactList}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/hierarchy.tex b/src/Robot/UnitreecameraSDK/doc/latex/hierarchy.tex
new file mode 100644
index 0000000..c6af19a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/hierarchy.tex
@@ -0,0 +1,21 @@
+\section{Class Hierarchy}
+This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList}
+\item \contentsline{section}{\+\_\+\+Device\+\_\+\+Point\+\_\+}{\pageref{struct___device___point__}}{}
+\item \contentsline{section}{glwindow\+:\+:Event\+Handler}{\pageref{structglwindow_1_1_event_handler}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{glwindow\+:\+:Event\+Dispatcher}{\pageref{classglwindow_1_1_event_dispatcher}}{}
+\item \contentsline{section}{glwindow\+:\+:Scene\+Window}{\pageref{classglwindow_1_1_scene_window}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{glwindow\+:\+:G\+L\+Window}{\pageref{classglwindow_1_1_g_l_window}}{}
+\item \contentsline{section}{info\+\_\+camera\+\_\+os}{\pageref{classinfo__camera__os}}{}
+\item \contentsline{section}{info\+\_\+camera\+\_\+\+String}{\pageref{classinfo__camera___string}}{}
+\item \contentsline{section}{P\+CL}{\pageref{struct_p_c_l}}{}
+\item \contentsline{section}{glwindow\+:\+:G\+L\+Window\+:\+:Scoped\+Context}{\pageref{structglwindow_1_1_g_l_window_1_1_scoped_context}}{}
+\item \contentsline{section}{Stereo\+Camera}{\pageref{class_stereo_camera}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{Unitree\+Camera}{\pageref{class_unitree_camera}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{System\+Log}{\pageref{class_system_log}}{}
+\item \contentsline{section}{glwindow\+:\+:G\+L\+Window\+:\+:System\+State}{\pageref{struct_g_l_window_1_1_system_state}}{}
+\item \contentsline{section}{glwindow\+:\+:Scene\+Window\+:\+:Viewpoint}{\pageref{structglwindow_1_1_scene_window_1_1_viewpoint}}{}
+\end{DoxyCompactList}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/index.tex b/src/Robot/UnitreecameraSDK/doc/latex/index.tex
new file mode 100644
index 0000000..cf236fa
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/index.tex
@@ -0,0 +1,62 @@
+Unitree Robotics is a energetic start-\/up company that focuses on the development, production and sales of high-\/performance quadruped robots. It has been interviewed by B\+BC and C\+C\+TV, and is one of the earliest company to publicly sell quadruped robots.
+
+The company has an outstanding leadership in developing robot core components, motion control, robot perception, etc.
+
+We attaches great importance to research and development, and thus independently developed the motors, reducers, controllers, and even some sensors of the quadruped robot.
+
+\subsection*{1.\+Overview }
+
+Unitree\+Camera\+S\+DK 1.\+0 is a cross-\/platform library for unitree depth cameras
+
+The S\+DK allows depth and color streaming, and provides intrinsic calibration information. The library also offers pointcloud, depth aligned to color and vise-\/versa.
+
+\subsection*{2.\+Dependencies }
+
+Open\+CV, version\+: equal or lager than 4 Cmake, version\+: 2.\+8
+
+\subsection*{2.\+Build }
+
+
+\begin{DoxyCode}
+cd UnitreeCameraSDK;
+mkdir build; cd build;
+cmake ..; make
+\end{DoxyCode}
+
+
+\subsection*{3.\+Run Examples }
+
+Get Camera Raw Frame\+: 
+\begin{DoxyCode}
+cd UnitreeCameraSDK; 
+./bin/example\_getRawFrame 
+\end{DoxyCode}
+
+
+Get Calibration Parameters File 
+\begin{DoxyCode}
+cd UnitreeCameraSDK;
+./bin/example\_getCalibParamsFile 
+\end{DoxyCode}
+
+
+Get Rectify Frame 
+\begin{DoxyCode}
+cd UnitreeCameraSDK;
+./bin/example\_getRectFrame
+\end{DoxyCode}
+
+
+Get Depth Frame 
+\begin{DoxyCode}
+cd UnitreeCameraSDK;
+./bin/example\_getDepthFrame
+\end{DoxyCode}
+
+
+Get Point Cloud\+: 
+\begin{DoxyCode}
+cd UnitreeCameraSDK; 
+./bin/example\_getPointCloud
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/refman.tex b/src/Robot/UnitreecameraSDK/doc/latex/refman.tex
new file mode 100644
index 0000000..3a3ea5f
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/refman.tex
@@ -0,0 +1,153 @@
+\documentclass[twoside]{book}
+
+% Packages required by doxygen
+\usepackage{fixltx2e}
+\usepackage{calc}
+\usepackage{doxygen}
+\usepackage[export]{adjustbox} % also loads graphicx
+\usepackage{graphicx}
+\usepackage[utf8]{inputenc}
+\usepackage{makeidx}
+\usepackage{multicol}
+\usepackage{multirow}
+\PassOptionsToPackage{warn}{textcomp}
+\usepackage{textcomp}
+\usepackage[nointegrals]{wasysym}
+\usepackage[table]{xcolor}
+
+% Font selection
+\usepackage[T1]{fontenc}
+\usepackage[scaled=.90]{helvet}
+\usepackage{courier}
+\usepackage{amssymb}
+\usepackage{sectsty}
+\renewcommand{\familydefault}{\sfdefault}
+\allsectionsfont{%
+  \fontseries{bc}\selectfont%
+  \color{darkgray}%
+}
+\renewcommand{\DoxyLabelFont}{%
+  \fontseries{bc}\selectfont%
+  \color{darkgray}%
+}
+\newcommand{\+}{\discretionary{\mbox{\scriptsize$\hookleftarrow$}}{}{}}
+
+% Page & text layout
+\usepackage{geometry}
+\geometry{%
+  a4paper,%
+  top=2.5cm,%
+  bottom=2.5cm,%
+  left=2.5cm,%
+  right=2.5cm%
+}
+\tolerance=750
+\hfuzz=15pt
+\hbadness=750
+\setlength{\emergencystretch}{15pt}
+\setlength{\parindent}{0cm}
+\setlength{\parskip}{3ex plus 2ex minus 2ex}
+\makeatletter
+\renewcommand{\paragraph}{%
+  \@startsection{paragraph}{4}{0ex}{-1.0ex}{1.0ex}{%
+    \normalfont\normalsize\bfseries\SS@parafont%
+  }%
+}
+\renewcommand{\subparagraph}{%
+  \@startsection{subparagraph}{5}{0ex}{-1.0ex}{1.0ex}{%
+    \normalfont\normalsize\bfseries\SS@subparafont%
+  }%
+}
+\makeatother
+
+% Headers & footers
+\usepackage{fancyhdr}
+\pagestyle{fancyplain}
+\fancyhead[LE]{\fancyplain{}{\bfseries\thepage}}
+\fancyhead[CE]{\fancyplain{}{}}
+\fancyhead[RE]{\fancyplain{}{\bfseries\leftmark}}
+\fancyhead[LO]{\fancyplain{}{\bfseries\rightmark}}
+\fancyhead[CO]{\fancyplain{}{}}
+\fancyhead[RO]{\fancyplain{}{\bfseries\thepage}}
+\fancyfoot[LE]{\fancyplain{}{}}
+\fancyfoot[CE]{\fancyplain{}{}}
+\fancyfoot[RE]{\fancyplain{}{\bfseries\scriptsize Generated by Doxygen }}
+\fancyfoot[LO]{\fancyplain{}{\bfseries\scriptsize Generated by Doxygen }}
+\fancyfoot[CO]{\fancyplain{}{}}
+\fancyfoot[RO]{\fancyplain{}{}}
+\renewcommand{\footrulewidth}{0.4pt}
+\renewcommand{\chaptermark}[1]{%
+  \markboth{#1}{}%
+}
+\renewcommand{\sectionmark}[1]{%
+  \markright{\thesection\ #1}%
+}
+
+% Indices & bibliography
+\usepackage{natbib}
+\usepackage[titles]{tocloft}
+\setcounter{tocdepth}{3}
+\setcounter{secnumdepth}{5}
+\makeindex
+
+% Hyperlinks (required, but should be loaded last)
+\usepackage{ifpdf}
+\ifpdf
+  \usepackage[pdftex,pagebackref=true]{hyperref}
+\else
+  \usepackage[ps2pdf,pagebackref=true]{hyperref}
+\fi
+\hypersetup{%
+  colorlinks=true,%
+  linkcolor=blue,%
+  citecolor=blue,%
+  unicode%
+}
+
+% Custom commands
+\newcommand{\clearemptydoublepage}{%
+  \newpage{\pagestyle{empty}\cleardoublepage}%
+}
+
+\usepackage{caption}
+\captionsetup{labelsep=space,justification=centering,font={bf},singlelinecheck=off,skip=4pt,position=top}
+
+%===== C O N T E N T S =====
+
+\begin{document}
+
+% Titlepage & ToC
+\hypersetup{pageanchor=false,
+             bookmarksnumbered=true,
+             pdfencoding=unicode
+            }
+\pagenumbering{alph}
+\begin{titlepage}
+\vspace*{7cm}
+\begin{center}%
+{\Large Unitree\+Camera\+S\+DK \\[1ex]\large 1.\+0.\+1 }\\
+\vspace*{1cm}
+{\large Generated by Doxygen 1.8.13}\\
+\end{center}
+\end{titlepage}
+\clearemptydoublepage
+\pagenumbering{roman}
+\tableofcontents
+\clearemptydoublepage
+\pagenumbering{arabic}
+\hypersetup{pageanchor=true}
+
+%--- Begin generated contents ---
+\chapter{Introduction}
+\label{index}\hypertarget{index}{}\input{index}
+%--- End generated contents ---
+
+% Index
+\backmatter
+\newpage
+\phantomsection
+\clearemptydoublepage
+\addcontentsline{toc}{chapter}{Index}
+\printindex
+
+\end{document}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/struct___device___point__.tex b/src/Robot/UnitreecameraSDK/doc/latex/struct___device___point__.tex
new file mode 100644
index 0000000..b297ac0
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/struct___device___point__.tex
@@ -0,0 +1,86 @@
+\hypertarget{struct___device___point__}{}\section{\+\_\+\+Device\+\_\+\+Point\+\_\+ Struct Reference}
+\label{struct___device___point__}\index{\+\_\+\+Device\+\_\+\+Point\+\_\+@{\+\_\+\+Device\+\_\+\+Point\+\_\+}}
+
+
+Collaboration diagram for \+\_\+\+Device\+\_\+\+Point\+\_\+\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=258pt]{struct___device___point____coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{struct___device___point___a496ae1b03ae70dcf285608728f19362b}\label{struct___device___point___a496ae1b03ae70dcf285608728f19362b}} 
+uint32\+\_\+t {\bfseries u\+\_\+index}
+\item 
+\mbox{\Hypertarget{struct___device___point___a2bcc2213d69bdfb85185dd5cba38fb1a}\label{struct___device___point___a2bcc2213d69bdfb85185dd5cba38fb1a}} 
+B\+Y\+TE {\bfseries Flash\+Type}
+\item 
+\mbox{\Hypertarget{struct___device___point___a1d18be09086b1f8dbce31538658ac969}\label{struct___device___point___a1d18be09086b1f8dbce31538658ac969}} 
+B\+Y\+TE {\bfseries I\+S\+P\+\_\+\+ID}
+\item 
+\mbox{\Hypertarget{struct___device___point___acc7c595ed1668efdbb9f08991774fde5}\label{struct___device___point___acc7c595ed1668efdbb9f08991774fde5}} 
+P\+V\+O\+ID {\bfseries p\+\_\+device}
+\item 
+\mbox{\Hypertarget{struct___device___point___ac1cf796ec01fcfe2501de7fd67c1e816}\label{struct___device___point___ac1cf796ec01fcfe2501de7fd67c1e816}} 
+H\+\_\+\+Fun\+\_\+\+I\+Pb {\bfseries Falsh\+\_\+R}
+\item 
+\mbox{\Hypertarget{struct___device___point___af6be85e4e3087c97bcaf6b211a536fd0}\label{struct___device___point___af6be85e4e3087c97bcaf6b211a536fd0}} 
+H\+\_\+\+Fun\+\_\+\+I\+Pb {\bfseries Falsh\+\_\+W}
+\item 
+\mbox{\Hypertarget{struct___device___point___a140753f50973b7bd2093b7c5f867401b}\label{struct___device___point___a140753f50973b7bd2093b7c5f867401b}} 
+H\+\_\+\+Fun\+\_\+\+Cinfo {\bfseries p\+Info}
+\item 
+\mbox{\Hypertarget{struct___device___point___aa62b57c39680137953b3a0231e03b0de}\label{struct___device___point___aa62b57c39680137953b3a0231e03b0de}} 
+H\+\_\+\+Fun\+\_\+\+WB {\bfseries Set\+\_\+\+I\+S\+P\+\_\+\+Reg}
+\item 
+\mbox{\Hypertarget{struct___device___point___a99da3d517f02c8fbb1ae9dab99e270d9}\label{struct___device___point___a99da3d517f02c8fbb1ae9dab99e270d9}} 
+H\+\_\+\+Fun\+\_\+\+W\+Pb {\bfseries Get\+\_\+\+I\+S\+P\+\_\+\+Reg}
+\item 
+\mbox{\Hypertarget{struct___device___point___a36efd255ea09b7358384322e7653c507}\label{struct___device___point___a36efd255ea09b7358384322e7653c507}} 
+H\+\_\+\+Fun\+\_\+\+B\+WW {\bfseries Set\+\_\+\+Sensor\+\_\+\+Reg}
+\item 
+\mbox{\Hypertarget{struct___device___point___ae5c33e5dbbe75a06269a779b46f910e5}\label{struct___device___point___ae5c33e5dbbe75a06269a779b46f910e5}} 
+H\+\_\+\+Fun\+\_\+\+B\+W\+Pw {\bfseries Get\+\_\+\+Sensor\+\_\+\+Reg}
+\item 
+\mbox{\Hypertarget{struct___device___point___a693ba5a68484207ca9a4dcdb3099ee20}\label{struct___device___point___a693ba5a68484207ca9a4dcdb3099ee20}} 
+Input\+\_\+\+G\+P\+I\+O\+\_\+\+Get {\bfseries Input\+\_\+\+Gpio\+\_\+\+Get}
+\item 
+\mbox{\Hypertarget{struct___device___point___a2e3c1ab9e67f2f34d7f8b0201763d791}\label{struct___device___point___a2e3c1ab9e67f2f34d7f8b0201763d791}} 
+Output\+\_\+\+G\+P\+I\+O\+\_\+\+Set {\bfseries Output\+\_\+\+Gpio\+\_\+set}
+\item 
+\mbox{\Hypertarget{struct___device___point___ae626785c21cf9bc3fe9a80a849eb4eb7}\label{struct___device___point___ae626785c21cf9bc3fe9a80a849eb4eb7}} 
+Input\+\_\+\+G\+P\+I\+O\+\_\+\+Init {\bfseries Input\+\_\+\+Gpio\+\_\+init}
+\item 
+\mbox{\Hypertarget{struct___device___point___ac2ae81539bc4b84bf0aac9662f9f671a}\label{struct___device___point___ac2ae81539bc4b84bf0aac9662f9f671a}} 
+Output\+\_\+\+G\+P\+I\+O\+\_\+\+Init {\bfseries Output\+\_\+\+Gpio\+\_\+init}
+\item 
+\mbox{\Hypertarget{struct___device___point___ab738d9836087a55b8cd6e7871459c3d0}\label{struct___device___point___ab738d9836087a55b8cd6e7871459c3d0}} 
+P\+V\+O\+ID {\bfseries R\+E\+S\+\_\+1}
+\item 
+\mbox{\Hypertarget{struct___device___point___a81f92aa0d840a974b6dc6fc63374edbc}\label{struct___device___point___a81f92aa0d840a974b6dc6fc63374edbc}} 
+P\+V\+O\+ID {\bfseries R\+E\+S\+\_\+2}
+\item 
+\mbox{\Hypertarget{struct___device___point___ae8d95092c51baeefa9cd34d10a18c096}\label{struct___device___point___ae8d95092c51baeefa9cd34d10a18c096}} 
+H\+\_\+\+Fun\+\_\+\+Cinfo\+Str {\bfseries p\+Info\+Str}
+\item 
+\mbox{\Hypertarget{struct___device___point___ad1b9669faa70672bff64d4df2474c957}\label{struct___device___point___ad1b9669faa70672bff64d4df2474c957}} 
+p\+Ex\+ID {\bfseries p\+Exid\+\_\+R}
+\item 
+\mbox{\Hypertarget{struct___device___point___aba2eb95e2d194970a759807f8c92b7f0}\label{struct___device___point___aba2eb95e2d194970a759807f8c92b7f0}} 
+p\+Ex\+ID {\bfseries p\+Exid\+\_\+W}
+\item 
+\mbox{\Hypertarget{struct___device___point___a91ad63e0cee2bee000daffefb913d887}\label{struct___device___point___a91ad63e0cee2bee000daffefb913d887}} 
+P\+V\+O\+ID {\bfseries respoint}
+\item 
+\mbox{\Hypertarget{struct___device___point___a7bbbb8a7da07390894a0193fd46241d8}\label{struct___device___point___a7bbbb8a7da07390894a0193fd46241d8}} 
+p\+C\+U\+S\+T\+O\+M\+E\+R\+Fun {\bfseries p\+Customer}
+\end{DoxyCompactItemize}
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+src/camera\+\_\+api.\+h\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/struct___device___point____coll__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/struct___device___point____coll__graph.md5
new file mode 100644
index 0000000..98295c8
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/struct___device___point____coll__graph.md5
@@ -0,0 +1 @@
+cf67120c2c743b9e9105d9de54dc121a
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/struct___device___point____coll__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/struct___device___point____coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..f6fe92f1318fef8839b2052c369b41cc456889f8
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/struct_g_l_window_1_1_system_state.tex b/src/Robot/UnitreecameraSDK/doc/latex/struct_g_l_window_1_1_system_state.tex
new file mode 100644
index 0000000..33e8b05
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/struct_g_l_window_1_1_system_state.tex
@@ -0,0 +1,52 @@
+\hypertarget{struct_g_l_window_1_1_system_state}{}\section{glwindow\+:\+:G\+L\+Window\+:\+:System\+State Struct Reference}
+\label{struct_g_l_window_1_1_system_state}\index{glwindow\+::\+G\+L\+Window\+::\+System\+State@{glwindow\+::\+G\+L\+Window\+::\+System\+State}}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_a5c10afc9873e8429448fc085230099a4}\label{struct_g_l_window_1_1_system_state_a5c10afc9873e8429448fc085230099a4}} 
+bool {\bfseries init} (int w, int h, const char $\ast$title)
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_a0eccf6dc59ec9e8b062eb8cd56398e60}\label{struct_g_l_window_1_1_system_state_a0eccf6dc59ec9e8b062eb8cd56398e60}} 
+void {\bfseries destroy} ()
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_aecbb2620bcb643e4bad1280b5ae5c9f5}\label{struct_g_l_window_1_1_system_state_aecbb2620bcb643e4bad1280b5ae5c9f5}} 
+void {\bfseries swap\+\_\+buffers} ()
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_a760021e568f2dc7e0cc5a68fb835321e}\label{struct_g_l_window_1_1_system_state_a760021e568f2dc7e0cc5a68fb835321e}} 
+void {\bfseries set\+\_\+title} (const char $\ast$title)
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_ad553d495b4f03b0cb666cb9916ba1180}\label{struct_g_l_window_1_1_system_state_ad553d495b4f03b0cb666cb9916ba1180}} 
+bool {\bfseries make\+\_\+current} ()
+\end{DoxyCompactItemize}
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_aeb17b154bf55aba75b2f807a2dac47f6}\label{struct_g_l_window_1_1_system_state_aeb17b154bf55aba75b2f807a2dac47f6}} 
+Display $\ast$ {\bfseries display}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_aa2dff48b0d656cb10a97ce6eb7fbee56}\label{struct_g_l_window_1_1_system_state_aa2dff48b0d656cb10a97ce6eb7fbee56}} 
+Window {\bfseries window}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_ab6ba4ef9e4aca634aad36b9e652e6c9f}\label{struct_g_l_window_1_1_system_state_ab6ba4ef9e4aca634aad36b9e652e6c9f}} 
+G\+L\+X\+Context {\bfseries context}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_a6901cb96188585fcf83cf46192ded4b1}\label{struct_g_l_window_1_1_system_state_a6901cb96188585fcf83cf46192ded4b1}} 
+Atom {\bfseries delete\+\_\+atom}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_a8477bec2ff201a8dd407becfd0c104a1}\label{struct_g_l_window_1_1_system_state_a8477bec2ff201a8dd407becfd0c104a1}} 
+Cursor {\bfseries cursor}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_aae54ccdc33e813e058623555d182b963}\label{struct_g_l_window_1_1_system_state_aae54ccdc33e813e058623555d182b963}} 
+int {\bfseries width}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_a3ca4777d7371ae47f53a8dd69690e9c6}\label{struct_g_l_window_1_1_system_state_a3ca4777d7371ae47f53a8dd69690e9c6}} 
+int {\bfseries height}
+\item 
+\mbox{\Hypertarget{struct_g_l_window_1_1_system_state_a7f931ca36a980cd9ff1c00dacf410dd2}\label{struct_g_l_window_1_1_system_state_a7f931ca36a980cd9ff1c00dacf410dd2}} 
+bool {\bfseries visible}
+\end{DoxyCompactItemize}
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+examples/gl\+Viewer/glwindow\+\_\+x11.\+cpp\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/struct_p_c_l.tex b/src/Robot/UnitreecameraSDK/doc/latex/struct_p_c_l.tex
new file mode 100644
index 0000000..d18707a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/struct_p_c_l.tex
@@ -0,0 +1,36 @@
+\hypertarget{struct_p_c_l}{}\section{P\+CL Struct Reference}
+\label{struct_p_c_l}\index{P\+CL@{P\+CL}}
+
+
+this struct is used for R\+GB point cloud capture and display  
+
+
+
+
+{\ttfamily \#include $<$Stereo\+Camera\+Common.\+hpp$>$}
+
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{struct_p_c_l_a07c28b7f533724d91ec4a9e461989d8c}\label{struct_p_c_l_a07c28b7f533724d91ec4a9e461989d8c}} 
+cv\+::\+Vec3f \hyperlink{struct_p_c_l_a07c28b7f533724d91ec4a9e461989d8c}{pts}
+\begin{DoxyCompactList}\small\item\em points coordinates (x, y, z) \end{DoxyCompactList}\item 
+\mbox{\Hypertarget{struct_p_c_l_a6555550c790378b130273dd6ae3a2158}\label{struct_p_c_l_a6555550c790378b130273dd6ae3a2158}} 
+cv\+::\+Vec3b \hyperlink{struct_p_c_l_a6555550c790378b130273dd6ae3a2158}{clr}
+\begin{DoxyCompactList}\small\item\em points color (b, g, r) \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\subsection{Detailed Description}
+this struct is used for R\+GB point cloud capture and display 
+
+pts for point coordinates (x, y, z), clr for point color (b, g, r) \begin{DoxyNote}{Note}
+point cloud simple type 
+\end{DoxyNote}
+\begin{DoxyAttention}{Attention}
+point data element type float, color data element type uchar 
+\end{DoxyAttention}
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+include/\hyperlink{_stereo_camera_common_8hpp}{Stereo\+Camera\+Common.\+hpp}\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler.tex b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler.tex
new file mode 100644
index 0000000..544321a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler.tex
@@ -0,0 +1,47 @@
+\hypertarget{structglwindow_1_1_event_handler}{}\section{glwindow\+:\+:Event\+Handler Struct Reference}
+\label{structglwindow_1_1_event_handler}\index{glwindow\+::\+Event\+Handler@{glwindow\+::\+Event\+Handler}}
+
+
+Inheritance diagram for glwindow\+:\+:Event\+Handler\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structglwindow_1_1_event_handler__inherit__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_a6f2084a1cbe2ec67360f07f7cacee5b8}\label{structglwindow_1_1_event_handler_a6f2084a1cbe2ec67360f07f7cacee5b8}} 
+virtual bool {\bfseries on\+\_\+key\+\_\+down} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int key)
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_aed85ba8a37b8403ffe5d89ee5d2e765c}\label{structglwindow_1_1_event_handler_aed85ba8a37b8403ffe5d89ee5d2e765c}} 
+virtual bool {\bfseries on\+\_\+key\+\_\+up} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int key)
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_a2dc8861119889a5ece73ffdb09439b18}\label{structglwindow_1_1_event_handler_a2dc8861119889a5ece73ffdb09439b18}} 
+virtual bool {\bfseries on\+\_\+text} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, const char $\ast$text, int len)
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_adeb34bb7c2eb4357496bf4d8fcda53df}\label{structglwindow_1_1_event_handler_adeb34bb7c2eb4357496bf4d8fcda53df}} 
+virtual bool {\bfseries on\+\_\+button\+\_\+down} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int btn, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_a2801b252ae6ddc96595bc262354ca789}\label{structglwindow_1_1_event_handler_a2801b252ae6ddc96595bc262354ca789}} 
+virtual bool {\bfseries on\+\_\+button\+\_\+up} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int btn, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_a5f016ad6546c1413845a1a3b6c66bad9}\label{structglwindow_1_1_event_handler_a5f016ad6546c1413845a1a3b6c66bad9}} 
+virtual bool {\bfseries on\+\_\+mouse\+\_\+move} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int state, int x, int y)
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_ad6373a3f3dd084db5f100e4da12130b8}\label{structglwindow_1_1_event_handler_ad6373a3f3dd084db5f100e4da12130b8}} 
+virtual bool {\bfseries on\+\_\+mouse\+\_\+wheel} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int state, int x, int y, int dx, int dy)
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_a32a807fa383e8d0a7395fea38125ea91}\label{structglwindow_1_1_event_handler_a32a807fa383e8d0a7395fea38125ea91}} 
+virtual bool {\bfseries on\+\_\+resize} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win, int x, int y, int w, int h)
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_event_handler_a0bb4bf3ce84c596f781594219aad8198}\label{structglwindow_1_1_event_handler_a0bb4bf3ce84c596f781594219aad8198}} 
+virtual bool {\bfseries on\+\_\+close} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&win)
+\end{DoxyCompactItemize}
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+examples/gl\+Viewer/glwindow.\+hpp\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.md5
new file mode 100644
index 0000000..2ef69ce
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_event_handler__inherit__graph.pdf
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context.tex b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context.tex
new file mode 100644
index 0000000..b61cd42
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context.tex
@@ -0,0 +1,29 @@
+\hypertarget{structglwindow_1_1_g_l_window_1_1_scoped_context}{}\section{glwindow\+:\+:G\+L\+Window\+:\+:Scoped\+Context Struct Reference}
+\label{structglwindow_1_1_g_l_window_1_1_scoped_context}\index{glwindow\+::\+G\+L\+Window\+::\+Scoped\+Context@{glwindow\+::\+G\+L\+Window\+::\+Scoped\+Context}}
+
+
+Collaboration diagram for glwindow\+:\+:G\+L\+Window\+:\+:Scoped\+Context\+:
+\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=276pt]{structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph}
+\end{center}
+\end{figure}
+\subsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_g_l_window_1_1_scoped_context_a50c8bb3920c309f393427a712ef92fab}\label{structglwindow_1_1_g_l_window_1_1_scoped_context_a50c8bb3920c309f393427a712ef92fab}} 
+{\bfseries Scoped\+Context} (\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \&w)
+\end{DoxyCompactItemize}
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_g_l_window_1_1_scoped_context_a4d650e6dd6b405ea6f6b344b3e98a3af}\label{structglwindow_1_1_g_l_window_1_1_scoped_context_a4d650e6dd6b405ea6f6b344b3e98a3af}} 
+\hyperlink{classglwindow_1_1_g_l_window}{G\+L\+Window} \& {\bfseries win}
+\end{DoxyCompactItemize}
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+examples/gl\+Viewer/glwindow.\+hpp\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.md5 b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.md5
new file mode 100644
index 0000000..6959b03
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.md5
@@ -0,0 +1 @@
+b57dad1e1a6242c6ea719e00bd3e8c03
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.pdf b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_g_l_window_1_1_scoped_context__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..ea8382981130c213401914cd2f968d3ef9977d9b
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diff --git a/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_scene_window_1_1_viewpoint.tex b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_scene_window_1_1_viewpoint.tex
new file mode 100644
index 0000000..373ed1a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/doc/latex/structglwindow_1_1_scene_window_1_1_viewpoint.tex
@@ -0,0 +1,23 @@
+\hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint}{}\section{glwindow\+:\+:Scene\+Window\+:\+:Viewpoint Struct Reference}
+\label{structglwindow_1_1_scene_window_1_1_viewpoint}\index{glwindow\+::\+Scene\+Window\+::\+Viewpoint@{glwindow\+::\+Scene\+Window\+::\+Viewpoint}}
+\subsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint_a48d71514393c6538f2753b219ec25e1e}\label{structglwindow_1_1_scene_window_1_1_viewpoint_a48d71514393c6538f2753b219ec25e1e}} 
+double {\bfseries target} \mbox{[}3\mbox{]}
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint_a2c4761518908d5af7812a2427275b9da}\label{structglwindow_1_1_scene_window_1_1_viewpoint_a2c4761518908d5af7812a2427275b9da}} 
+double {\bfseries azimuth}
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint_a019ecd110fdfc130d30318e728198718}\label{structglwindow_1_1_scene_window_1_1_viewpoint_a019ecd110fdfc130d30318e728198718}} 
+double {\bfseries elevation}
+\item 
+\mbox{\Hypertarget{structglwindow_1_1_scene_window_1_1_viewpoint_ab9bf343d65bfd4a4ef814c812ab92136}\label{structglwindow_1_1_scene_window_1_1_viewpoint_ab9bf343d65bfd4a4ef814c812ab92136}} 
+double {\bfseries distance}
+\end{DoxyCompactItemize}
+
+
+The documentation for this struct was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+examples/gl\+Viewer/scenewindow.\+hpp\item 
+examples/gl\+Viewer/scenewindow.\+cpp\end{DoxyCompactItemize}
diff --git a/src/Robot/UnitreecameraSDK/examples/CMakeLists.txt b/src/Robot/UnitreecameraSDK/examples/CMakeLists.txt
new file mode 100644
index 0000000..4b75364
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/CMakeLists.txt
@@ -0,0 +1,66 @@
+
+add_executable(example_getRawFrame ./example_getRawFrame.cc)
+target_link_libraries(example_getRawFrame ${SDKLIBS})
+
+add_executable(example_getDepthFrame ./example_getDepthFrame.cc)
+target_link_libraries(example_getDepthFrame ${SDKLIBS})
+
+add_executable(example_getRectFrame ./example_getRectFrame.cc)
+target_link_libraries(example_getRectFrame ${SDKLIBS})
+
+add_executable(example_getCalibParamsFile ./example_getCalibParamsFile.cc)
+target_link_libraries(example_getCalibParamsFile ${SDKLIBS})
+
+add_executable(example_putImagetrans ./example_putImagetrans.cc)
+target_link_libraries(example_putImagetrans ${SDKLIBS})
+
+add_executable(example_getimagetrans ./example_getimagetrans.cc)
+target_link_libraries(example_getimagetrans ${SDKLIBS})
+
+# add_executable(example_share ./example_share.cc)
+# target_link_libraries(example_share ${SDKLIBS})
+
+find_package(OpenGL REQUIRED)
+if(OpenGL_FOUND)
+    include_directories(${OPENGL_INCLUDE_DIR})
+    message(STATUS ${OPENGL_INCLUDE_DIR})
+    message(STATUS ${OPENGL_LIBRARIES})
+else()
+    message(WARNING "OpenGL Library Not Found")
+endif()
+
+find_package(GLUT REQUIRED)
+if(GLUT_FOUND)
+    include_directories(${GLUT_INCLUDE_DIR})
+    message(STATUS ${GLUT_INCLUDE_DIR})
+    message(STATUS ${GLUT_LIBRARY})
+else()
+    message(WARNING "GLUT Library Not Found")
+endif()
+
+find_package(X11 REQUIRED)
+if(X11_FOUND)
+    include_directories(${X11_INCLUDE_DIR})
+    message(${X11_INCLUDE_DIR})
+    message(${X11_LIBRARIES})
+else()
+    message(WARNING "X11 Library Not Found")
+endif()
+
+if(X11_FOUND AND OpenGL_FOUND AND GLUT_FOUND)
+    set(ShowPointCloud true)
+    message(STATUS "Point Cloud Example Enabled")
+else()
+    set(ShowPointCloud false)
+    message(WARNING "Point Cloud Example Disabled")
+endif()
+
+if(${ShowPointCloud})
+add_executable(example_getPointCloud ./example_getPointCloud.cc ./glViewer/glwindow_x11.cpp ./glViewer/scenewindow.cpp)
+target_link_libraries(example_getPointCloud ${SDKLIBS} ${OPENGL_LIBRARIES} ${GLUT_LIBRARY} ${X11_LIBRARIES} )
+endif()
+
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
+
+
diff --git a/src/Robot/UnitreecameraSDK/examples/example_getCalibParamsFile.cc b/src/Robot/UnitreecameraSDK/examples/example_getCalibParamsFile.cc
new file mode 100644
index 0000000..afdf0d2
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/example_getCalibParamsFile.cc
@@ -0,0 +1,27 @@
+/**
+  * @file example_getCalibParamsFile.cc
+  * @brief This file is part of UnitreeCameraSDK.
+  * @details This example that how to get camera internal parameters
+  * @author ZhangChunyang
+  * @date  2021.07.31
+  * @version 1.0.1
+  * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+#include <UnitreeCameraSDK.hpp>
+#include <unistd.h>
+
+int main(int argc, char *argv[]){
+    
+    UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file
+    if(!cam.isOpened())     ///< get camera open state
+        exit(EXIT_FAILURE);
+    
+    cam.startCapture(); ///< disable image h264 encoding and share memory sharing
+    usleep(100000);     ///< wait parameters initialization finished
+    cam.saveCalibParams("output_camCalibParams.yaml"); ///< save parameters to output_camCalibParams.yaml
+    std::cout << cam.getSerialNumber() << " " <<  cam.getPosNumber() << std::endl;
+    usleep(100000);
+    cam.stopCapture();  ///< stop camera capturing
+    return 0;
+}
diff --git a/src/Robot/UnitreecameraSDK/examples/example_getDepthFrame.cc b/src/Robot/UnitreecameraSDK/examples/example_getDepthFrame.cc
new file mode 100644
index 0000000..3eae096
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/example_getDepthFrame.cc
@@ -0,0 +1,42 @@
+/**
+  * @file example_getDepthFrame.cc
+  * @brief This file is part of UnitreeCameraSDK.
+  * @details This example that how to get depth frame
+  * @author SunMingzhe
+  * @date  2021.12.07
+  * @version 1.1.0
+  * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+#include <UnitreeCameraSDK.hpp>
+#include <unistd.h>
+
+int main(int argc, char *argv[]){
+    
+    UnitreeCamera cam("stereo_camera_config.yaml"); ///< init UnitreeCamera object by config file
+    if(!cam.isOpened())  ///< get camera open state
+        exit(EXIT_FAILURE);
+    
+    cam.startCapture(); ///< disable image h264 encoding and share memory sharing
+    cam.startStereoCompute(); ///< start disparity computing
+    
+    while(cam.isOpened()){
+        cv::Mat depth; 
+        std::chrono::microseconds t;
+        if(!cam.getDepthFrame(depth, true, t)){  ///< get stereo camera depth image 
+            usleep(1000);
+            continue;
+        }
+        if(!depth.empty()){
+            cv::imshow("UnitreeCamera-Depth", depth);
+        }
+        char key = cv::waitKey(10);
+        if(key == 27) // press ESC key
+           break;
+    }
+    
+    cam.stopStereoCompute();  ///< stop disparity computing 
+    cam.stopCapture();  ///< stop camera capturing
+    
+    return 0;
+}
diff --git a/src/Robot/UnitreecameraSDK/examples/example_getPointCloud.cc b/src/Robot/UnitreecameraSDK/examples/example_getPointCloud.cc
new file mode 100644
index 0000000..0dd9889
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/example_getPointCloud.cc
@@ -0,0 +1,97 @@
+/**
+  * @file example_getPointCloud.cc
+  * @brief This file is part of UnitreeCameraSDK.
+  * @details This example that how to get camera point cloud. 
+  * @author ZhangChunyang
+  * @date  2021.07.31
+  * @version 1.0.1
+  * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+#include <GL/gl.h>
+#include <signal.h>
+#include <cerrno>
+#include <cfenv>
+#include <unistd.h>
+#include "glViewer/scenewindow.hpp"
+#include <UnitreeCameraSDK.hpp>
+
+#define RGB_PCL true ///< Color Point Cloud Enable Flag
+
+void DrawScene(const std::vector<PCLType>& pcl_vec) {
+    glBegin(GL_POINTS);
+    for (uint i = 0; i < pcl_vec.size(); ++i) {
+        PCLType pcl = pcl_vec[i];
+        glColor3ub(pcl.clr(2), pcl.clr(1), pcl.clr(0));
+        glVertex3f(-pcl.pts(0), -pcl.pts(1), pcl.pts(2));
+    }
+    glEnd();
+}
+
+void DrawScene(const std::vector<cv::Vec3f>& pcl_vec) {
+    glBegin(GL_POINTS);
+    for (uint i = 0; i < pcl_vec.size(); ++i) {
+        cv::Vec3f pcl = pcl_vec[i];
+        glColor3ub(255, 255, 0);
+        glVertex3f(-pcl(0), -pcl(1), pcl(2));
+    }
+    glEnd();
+}
+
+bool killSignalFlag = false;
+void ctrl_c_handler(int s){
+    killSignalFlag = true;
+    return ; 
+}
+
+int main(int argc, char *argv[]){
+    
+    UnitreeCamera cam("stereo_camera_config.yaml");
+    if(!cam.isOpened())
+        exit(EXIT_FAILURE);
+
+    cam.startCapture();
+    cam.startStereoCompute();
+    
+    struct sigaction sigIntHandler;
+    sigIntHandler.sa_handler = ctrl_c_handler;
+    sigemptyset(&sigIntHandler.sa_mask);
+    sigIntHandler.sa_flags = 0;
+    sigaction(SIGINT, &sigIntHandler, NULL);
+    
+    std::cout << cam.getSerialNumber() << " " <<  cam.getPosNumber() << std::endl;
+    
+    glwindow::SceneWindow scene(960, 720, "Panorama 3D Scene");
+    
+    while(cam.isOpened()){
+        
+        if(killSignalFlag){
+            break;
+        }
+        
+        std::chrono::microseconds t;
+#if RGB_PCL       
+        std::vector<PCLType> pcl_vec;
+        if(!cam.getPointCloud(pcl_vec, t)){
+            usleep(1000);
+            continue;
+        }
+#else        
+        std::vector<cv::Vec3f> pcl_vec;
+        if(!cam.getPointCloud(pcl_vec, t)){
+            usleep(1000);
+            continue;
+        }
+#endif
+        if (scene.win.alive()) {
+            if (scene.start_draw()) {
+                DrawScene(pcl_vec);
+                scene.finish_draw();
+            }
+        }
+    }
+    
+    cam.stopStereoCompute();
+    cam.stopCapture();
+    return 0;
+}
diff --git a/src/Robot/UnitreecameraSDK/examples/example_getRawFrame.cc b/src/Robot/UnitreecameraSDK/examples/example_getRawFrame.cc
new file mode 100644
index 0000000..987cb41
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/example_getRawFrame.cc
@@ -0,0 +1,63 @@
+/**
+  * @file example_getRawFrame.cc
+  * @brief This file is part of UnitreeCameraSDK.
+  * @details This example that how to get camera raw frame.
+  * @author ZhangChunyang
+  * @date  2021.07.31
+  * @version 1.0.1
+  * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+#include <UnitreeCameraSDK.hpp>
+#include <unistd.h>
+
+int main(int argc, char *argv[]){
+    
+    int deviceNode = 0; // default 0 -> /dev/video0
+    cv::Size frameSize(1856, 800); // defalut image size: 1856 X 800
+    int fps = 30;
+    
+    if(argc >= 2){
+        deviceNode = std::atoi(argv[1]);
+        if(argc >= 4){
+            frameSize = cv::Size(std::atoi(argv[2]), std::atoi(argv[3]));
+        }
+        if(argc >=5)
+            fps = std::atoi(argv[4]);
+    }
+    
+    UnitreeCamera cam(deviceNode);  ///< init camera by device node number
+    if(!cam.isOpened())
+        exit(EXIT_FAILURE);
+    
+    cam.setRawFrameSize(frameSize); ///< set camera frame size
+    cam.setRawFrameRate(fps);       ///< set camera frame rate
+    
+    std::cout << "Device Position Number:" << cam.getPosNumber() << std::endl;
+    
+    cam.startCapture();            ///< start camera capturing
+
+    while(cam.isOpened())
+    {
+        
+        cv::Mat frame;
+        std::chrono::microseconds t;
+        if(!cam.getRawFrame(frame, t)){ ///< get camera raw image
+            usleep(1000);
+            continue;
+        }
+ 
+        cv::Mat left,right;
+        frame(cv::Rect(0, 0, frame.size().width/2, frame.size().height)).copyTo(right);
+        frame(cv::Rect(frame.size().width/2,0, frame.size().width/2, frame.size().height)).copyTo(left);
+        cv::hconcat(left, right, frame); 
+        cv::imshow("UnitreeCamera_Left-Right", frame);
+        char key = cv::waitKey(10);
+        if(key == 27) // press ESC key
+           break;
+    }
+    
+    cam.stopCapture();  ///< stop camera capturing
+    
+    return 0;
+}
diff --git a/src/Robot/UnitreecameraSDK/examples/example_getRectFrame.cc b/src/Robot/UnitreecameraSDK/examples/example_getRectFrame.cc
new file mode 100644
index 0000000..b9000e4
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/example_getRectFrame.cc
@@ -0,0 +1,60 @@
+/**
+  * @file example_getRectFrame.cc
+  * @brief This file is part of UnitreeCameraSDK.
+  * @details This example that how to get depth frame
+  * @author ZhangChunyang
+  * @date  2021.07.31
+  * @version 1.0.1
+  * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+#include <UnitreeCameraSDK.hpp>
+#include <unistd.h>
+
+int main(int argc, char *argv[]){
+    
+    int deviceNode = 0; ///< default 0 -> /dev/video0
+    cv::Size frameSize(1856, 800); ///< default frame size 1856x800
+    int fps = 30; ///< default camera fps: 30
+    
+    if(argc >= 2){
+        deviceNode = std::atoi(argv[1]);
+        if(argc >= 4){
+            frameSize = cv::Size(std::atoi(argv[2]), std::atoi(argv[3]));
+        }
+        if(argc >=5)
+            fps = std::atoi(argv[4]);
+    }
+    
+    UnitreeCamera cam("stereo_camera_config.yaml"); ///< init camera by device node number
+    if(!cam.isOpened())   ///< get camera open state
+        exit(EXIT_FAILURE);
+    
+    cam.setRawFrameSize(frameSize); ///< set camera frame size
+    cam.setRawFrameRate(fps);       ///< set camera camera fps
+    cam.setRectFrameSize(cv::Size(frameSize.width >> 2, frameSize.height >> 1)); ///< set camera rectify frame size
+    cam.startCapture(); ///< disable image h264 encoding and share memory sharing
+    
+    usleep(500000);
+    while(cam.isOpened()){
+        cv::Mat left,right;
+        if(!cam.getRectStereoFrame(left,right)){ ///< get rectify left,right frame  
+            usleep(1000);
+            continue;
+        }
+        
+        cv::Mat stereo;
+        // cv::flip(left,left, -1);
+        // cv::flip(right,right, -1);
+        cv::hconcat(left, right, stereo); 
+        cv::flip(stereo,stereo, -1);
+        cv::imshow("Longlat_Rect", stereo);
+        char key = cv::waitKey(10);
+        if(key == 27) // press ESC key
+           break;
+    }
+    
+    cam.stopCapture(); ///< stop camera capturing
+    
+    return 0;
+}
diff --git a/src/Robot/UnitreecameraSDK/examples/example_getimagetrans.cc b/src/Robot/UnitreecameraSDK/examples/example_getimagetrans.cc
new file mode 100644
index 0000000..9d21905
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/example_getimagetrans.cc
@@ -0,0 +1,62 @@
+/**
+  * @file example_getRectFrame.cc
+  * @brief This file is part of UnitreeCameraSDK.
+  * @details This example that how to Transmission picture
+  * @author SunMingzhe
+  * @date  2021.12.07
+  * @version 1.1.0
+  * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+/*
+接收端：
+方法概述：采用定向udp方法接收图片，在应用其之前，需要先发送图片，例子:example_putImagetrans.cc
+端口9201~9205分别对应前方，下巴，左，右，腹部
+本机ip需要是192.168.123.IpLastSegment，IpLastSegment被设置在发送端cofigure yaml-
+*/
+
+/*
+listener
+Introduction: This program uses directed UDP methods to get pictures,whitch requires sending pictures on other programs. for example:example_putImagetrans.cc
+port:9201~9205 -> Front,chin,left,right,abdomen
+local ip must be set to 192.168.123.IpLastSegment and IpLastSegment musb be set in cofigure yaml
+*/
+
+/*
+local ip config
+ip 192.168.123.IpLastSegment
+netmask 255.255.255.0
+gateway 192.168.123.1
+*/
+
+
+
+#include <opencv2/opencv.hpp>
+#include <iostream>
+int main(int argc,char** argv)
+{
+    std::string IpLastSegment = "15";
+    int cam = 1;
+    if (argc>=2)
+        cam = std::atoi(argv[1]);
+    std::string udpstrPrevData = "udpsrc address=192.168.123."+ IpLastSegment + " port=";
+    //端口：前方，下巴，左，右，腹部
+	std::array<int,5> udpPORT = std::array<int, 5>{9201, 9202, 9203, 9204, 9205};
+    std::string udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! omxh264dec ! videoconvert ! appsink";
+    std::string udpSendIntegratedPipe = udpstrPrevData +  std::to_string(udpPORT[cam-1]) + udpstrBehindData;
+    std::cout<<"udpSendIntegratedPipe:"<<udpSendIntegratedPipe<<std::endl;
+    cv::VideoCapture cap(udpSendIntegratedPipe);
+    if(!cap.isOpened())
+        return 0 ;
+    cv::Mat frame;
+    while(1)
+    {
+        cap >> frame;
+        if(frame.empty())
+            break;
+        imshow("video", frame);
+        cv::waitKey(20);
+    }
+    cap.release();//释放资源
+    return 0;
+}
diff --git a/src/Robot/UnitreecameraSDK/examples/example_putImagetrans.cc b/src/Robot/UnitreecameraSDK/examples/example_putImagetrans.cc
new file mode 100644
index 0000000..71b5cdf
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/example_putImagetrans.cc
@@ -0,0 +1,118 @@
+/**
+  * @file example_getRectFrame.cc
+  * @brief This file is part of UnitreeCameraSDK.
+  * @details This example that how to Transmission picture
+  * @author SunMingzhe
+  * @date  2021.12.07
+  * @version 1.1.0
+  * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+#include <UnitreeCameraSDK.hpp>
+#include <unistd.h>
+
+
+/*
+发送端：
+方法概述：采用udp方法输出图片，传输方式已写入程序，由StereoCameraCommon::startCapture(true,false)中第一个参数控制定向udp传输，当其为true时打开udp264硬编码传输模式
+参数：配置文件中IpLastSegment是接收端ip，接收端地址必须是192.168.123.IpLastSegment。
+     配置文件中Transmode决定传输模式
+     配置文件中Transrate决定传输速率，限制了传输速率小于图片速率
+     端口9201~9205分别对应前方，下巴，左，右，腹部
+     启动自定义图传时需使用kill.sh文件关闭Unitree/autostart/02camerarosnode程序来解除相机占用，Unitree/autostart/04imageai来释放算力。
+     （也可使用以下几条指令
+     ps -A | grep point | awk '{print $1}' | xargs kill -9
+     ps -aux|grep mqttControlNode|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9
+     ps -aux|grep live_human_pose|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9
+     ）
+传输图片模式：由配置文件中Transmode决定，该值只可通过读取配置文件方式写入
+0：传输左目原始图片
+1：传输双目原始图片
+2：传输左目畸变校正后图片，视野范围角度可调60~140
+3：传输双目畸变校正后图片
+※※※注意，双目图的最后的左右目输出位置是反的。左目->右图，右目->左图
+4：不建议使用！！，Depthmode = 2时 可输出深度图和对应左目图片，不建议使用。
+*/
+
+/*
+sender:
+Introduction: This program uses directed UDP methods to output pictures, transfer method written in programs.  StereoCameraCommon::startCapture(true,false) the first parameter is a switch.
+parameter:IpLastSegment is listener ip. listener ip:192.168.123.IpLastSegment
+     Transrate(config yaml) Transmission rate.it must lower than FrameRate
+     port:9201~9205 -> Front,chin,left,right,abdomen
+     If you start this file, you must bash "kill.sh" to turn off automatic startup program.  "Unitree/autostart/02camerarosnode/kill.sh" and "Unitree/autostart/04imageai/kill.sh".
+     （You can also use the following instructions:
+     ps -A | grep point | awk '{print $1}' | xargs kill -9
+     ps -aux|grep mqttControlNode|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9
+     ps -aux|grep live_human_pose|grep -v grep|head -n 1|awk '{print $2}'|xargs kill -9
+     ）
+Transfer picture mode: Decided by Transmode in the configuration yaml, which only writes in programs by reading the configuration yaml.
+0：ori left
+1：ori stereo
+2：rect left
+3：rect stereo
+※※※warning:The last left and right output position of the stereo picture is reversed    left cam-> right picture      right cam -> left picture
+4：Not recommended for use!!，set Depthmode = 2  , rect left && depthimage
+*/
+
+/*
+local ip config
+ip 192.168.123.x
+netmask 255.255.255.0
+gateway 192.168.123.1
+*/
+int main(int argc, char *argv[])
+{
+   
+    UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number
+    if(!cam.isOpened())   ///< get camera open state
+        exit(EXIT_FAILURE);   
+    cam.startCapture(true,false); ///< disable share memory sharing and able image h264 encoding
+
+    usleep(500000);
+    while(cam.isOpened())
+    {
+        cv::Mat left,right,feim;
+        if(!cam.getRectStereoFrame(left,right))
+        {
+            usleep(1000);
+            continue;
+        }
+        char key = cv::waitKey(10);
+        if(key == 27) // press ESC key
+           break;
+    }
+    
+    cam.stopCapture(); ///< stop camera capturing
+    
+    return 0;
+}
+/*
+int main(int argc, char *argv[])
+{
+     
+    UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number
+    if(!cam.isOpened())   ///< get camera open state
+        exit(EXIT_FAILURE);
+    
+    cam.startCapture(true,false); ///< disable share memory sharing and able image h264 encoding
+
+    usleep(500000);
+    while(cam.isOpened())
+    {
+        cv::Mat frame;
+        std::chrono::microseconds t;
+        if(!cam.getRawFrame(frame, t)){ ///< get camera raw image
+            usleep(1000);
+            continue;
+        }
+        char key = cv::waitKey(10);
+        if(key == 27) // press ESC key
+           break;
+    }
+    
+    cam.stopCapture(); ///< stop camera capturing
+    
+    return 0;
+}
+*/
diff --git a/src/Robot/UnitreecameraSDK/examples/example_share.cc b/src/Robot/UnitreecameraSDK/examples/example_share.cc
new file mode 100644
index 0000000..339101c
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/example_share.cc
@@ -0,0 +1,29 @@
+#include <UnitreeCameraSDK.hpp>
+#include <unistd.h>
+
+int main(int argc, char *argv[])
+{
+   
+    UnitreeCamera cam("trans_rect_config.yaml"); ///< init camera by device node number
+    if(!cam.isOpened())   ///< get camera open state
+        exit(EXIT_FAILURE);   
+    cam.startCapture(false, true);
+
+    usleep(500000);
+    while(cam.isOpened())
+    {
+        cv::Mat left,right,feim;
+        if(!cam.getRectStereoFrame(left,right))
+        {
+            usleep(1000);
+            continue;
+        }
+        char key = cv::waitKey(10);
+        if(key == 27) // press ESC key
+           break;
+    }
+    
+    cam.stopCapture(); ///< stop camera capturing
+    
+    return 0;
+}
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/examples/glViewer/glwindow.hpp b/src/Robot/UnitreecameraSDK/examples/glViewer/glwindow.hpp
new file mode 100644
index 0000000..a4ee236
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/glViewer/glwindow.hpp
@@ -0,0 +1,124 @@
+// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow
+
+#pragma once
+
+#include <vector>
+
+namespace glwindow {
+    
+    namespace ButtonEvent {
+        enum Buttons {
+            LEFT=1, MIDDLE=2, RIGHT=4, WHEEL=8,
+            MODKEY_CTRL=16, MODKEY_SHIFT=32, 
+        };
+    };
+
+    namespace KeyCode {
+        enum Codes {
+            BACKSPACE=0x8,
+            TAB=0x9,
+            ENTER=0xD,
+            ESCAPE=0x1B,
+            DEL=0x7F,
+            
+            SHIFT=0xFF00,
+            CTRL,
+            ALT,
+            SUPER,
+            CAPSLOCK,
+            LEFT,
+            UP,
+            RIGHT,
+            DOWN,            
+        };
+    };
+    
+
+    class GLWindow;
+    
+    struct EventHandler
+    {
+    public:
+        virtual ~EventHandler() {}
+        virtual bool on_key_down(GLWindow& win, int key) { return false; }
+        virtual bool on_key_up(GLWindow& win, int key) { return false; }
+        virtual bool on_text(GLWindow& win, const char *text, int len) { return false; }
+        virtual bool on_button_down(GLWindow& win, int btn, int state, int x, int y) { return false; }
+        virtual bool on_button_up(GLWindow& win, int btn, int state, int x, int y) { return false; }
+        virtual bool on_mouse_move(GLWindow& win, int state, int x, int y) { return false; }
+        virtual bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy) { return false; }
+        virtual bool on_resize(GLWindow& win, int x, int y, int w, int h) { return false; }
+        virtual bool on_close(GLWindow& win) { return false; }
+    };
+
+    // Dispatches to each handler in reverse order until one returns true
+    class EventDispatcher : public EventHandler
+    {
+    public:
+        const std::vector<EventHandler*> &handlers;
+        EventDispatcher(const std::vector<EventHandler*> &h) :
+            handlers(h) {}
+        bool on_key_down(GLWindow& win, int key);
+        bool on_key_up(GLWindow& win, int key);
+        bool on_text(GLWindow& win, const char *text, int len);
+        bool on_button_down(GLWindow& win, int btn, int state, int x, int y);
+        bool on_button_up(GLWindow& win, int btn, int state, int x, int y);
+        bool on_mouse_move(GLWindow& win, int state, int x, int y);
+        bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy);
+        bool on_resize(GLWindow& win, int x, int y, int w, int h);
+        bool on_close(GLWindow& win);
+    };
+    
+    class GLWindow
+    {
+    public:
+        GLWindow(int w=-1, int h=-1, const char *title=0);
+        virtual ~GLWindow();
+
+        int width() const;
+        int height() const;
+        bool visible() const;
+        bool alive() const;
+        
+        bool make_current();
+        bool push_context();
+        void pop_context();
+
+        struct ScopedContext {
+            GLWindow &win;
+            ScopedContext(GLWindow &w) : win(w) {
+                win.push_context();
+            }           
+            ~ScopedContext() {
+                win.pop_context();
+            }
+        };
+        
+        void swap_buffers();
+        
+        void set_size(int w, int h);
+        void set_position(int x, int y);
+        
+        void set_title(const char* title);
+        
+        void add_handler(EventHandler* handler);
+        bool remove_handler(EventHandler *handler);
+        void handle_events();
+        static void handle_all_events();
+        
+        void destroy();
+
+        void draw_text(double x, double y, const char *text, int xywh[4]=0);
+    protected:
+        struct SystemState;
+        SystemState *sys_state;
+
+        std::vector<EventHandler*> handlers;
+        GLWindow *prev_active;
+
+        static GLWindow *active_context;
+        static std::vector<GLWindow*> all_windows;
+        static void add_window(GLWindow *win);
+        static bool remove_window(GLWindow *win);
+    };
+}
diff --git a/src/Robot/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp b/src/Robot/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp
new file mode 100644
index 0000000..ec661f1
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/glViewer/glwindow_x11.cpp
@@ -0,0 +1,518 @@
+// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow
+
+#include "glwindow.hpp"
+
+#include <X11/Xlib.h>
+#include <X11/keysym.h>
+#include <GL/glx.h>
+#include <iostream>
+
+using namespace glwindow;
+
+std::vector<GLWindow*> GLWindow::all_windows;
+
+void GLWindow::add_window(GLWindow *win)
+{
+    all_windows.push_back(win);
+}
+
+bool GLWindow::remove_window(GLWindow *win)
+{
+    for (size_t i=0; i<all_windows.size(); ++i) {
+        if (all_windows[i] == win) {
+            all_windows[i] = all_windows.back();
+            all_windows.pop_back();
+            return true;
+        }
+    }
+    return false;
+}
+
+void GLWindow::handle_all_events()
+{
+    for (size_t i=0; i<all_windows.size(); ++i)
+        all_windows[i]->handle_events();
+}
+
+GLWindow *GLWindow::active_context = 0;
+
+bool GLWindow::push_context()
+{
+    prev_active = active_context;
+    return make_current();
+}
+
+void GLWindow::pop_context()
+{
+    if (active_context != this)
+        return;
+
+    if (prev_active) {
+        prev_active->make_current();
+    } else {
+        active_context = 0;
+    }
+}
+
+void GLWindow::add_handler(EventHandler* handler)
+{
+    handlers.push_back(handler);
+}
+
+bool GLWindow::remove_handler(EventHandler* handler)
+{
+    std::vector<EventHandler*>::reverse_iterator it;
+    for (it = handlers.rbegin(); it != handlers.rend(); ++it) {
+        if (*it == handler) {
+            handlers.erase(it.base());
+            return true;
+        }
+    }
+    return false;
+}
+
+bool EventDispatcher::on_key_down(GLWindow& win, int key) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_key_down(win, key))
+            return true;
+    return false;
+}
+bool EventDispatcher::on_key_up(GLWindow& win, int key) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_key_up(win, key))
+            return true;
+    return false;
+}
+bool EventDispatcher::on_text(GLWindow& win, const char *text, int len) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_text(win, text, len))
+            return true;
+    return false;
+}
+
+bool EventDispatcher::on_button_down(GLWindow& win, int btn, int state, int x, int y) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_button_down(win, btn, state, x, y))
+            return true;
+    return false;
+}
+
+bool EventDispatcher::on_button_up(GLWindow& win, int btn, int state, int x, int y) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_button_up(win, btn, state, x, y))
+            return true;
+    return false;
+}
+
+bool EventDispatcher::on_mouse_move(GLWindow& win, int state, int x, int y) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_mouse_move(win, state, x, y))
+            return true;
+    return false;
+}
+
+bool EventDispatcher::on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_mouse_wheel(win, state, x, y, dx, dy))
+            return true;
+    return false;
+}
+
+bool EventDispatcher::on_resize(GLWindow &win, int x, int y, int w, int h) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_resize(win, x, y, w, h))
+            return true;
+    return false;
+}
+
+bool EventDispatcher::on_close(GLWindow &win) {
+    for (int i=handlers.size()-1; i>=0; --i)
+        if (handlers[i]->on_close(win))
+            return true;
+    return false;
+}
+
+static XVisualInfo *makeVisualInfo(Display *display)
+{
+    int visualAttributes[] = {
+        GLX_RED_SIZE,      8,
+        GLX_GREEN_SIZE,    8,
+        GLX_BLUE_SIZE,     8,
+        GLX_DEPTH_SIZE,    16,
+        GLX_STENCIL_SIZE,  8,
+        GLX_RGBA,
+        GLX_DOUBLEBUFFER,
+        None
+    };
+    XVisualInfo *vi = glXChooseVisual(display, DefaultScreen(display), visualAttributes);
+    return vi;
+}
+
+static Window makeWindow(Display *display, XVisualInfo *vi, int width, int height)
+{
+    Window rootWindow = RootWindow(display, vi->screen);
+    
+    XSetWindowAttributes attributes;
+    attributes.border_pixel = 0;
+    attributes.colormap = XCreateColormap(display, rootWindow, vi->visual, AllocNone);
+    attributes.event_mask = (KeyPressMask | KeyReleaseMask |
+                             ButtonPressMask | ButtonReleaseMask |
+                             PointerMotionMask |
+                             VisibilityChangeMask |
+                             StructureNotifyMask |
+                             ExposureMask);
+    
+    Window window = XCreateWindow(display,
+                                  rootWindow,
+                                  0, 0, width, height,
+                                  0, vi->depth,
+                                  InputOutput,
+                                  vi->visual,
+                                  CWBorderPixel | CWColormap | CWEventMask,
+                                  &attributes);
+    return window;
+}
+
+struct GLWindow::SystemState
+{
+    Display* display;
+    Window window;
+    GLXContext context;
+    Atom delete_atom;
+    Cursor cursor;
+
+    int width, height;
+    bool visible;   
+    
+    SystemState() {
+        display = 0;
+        window = 0;
+        width = 0;
+        height = 0;
+        visible = false;
+    }
+    ~SystemState() {
+        if (!display)
+            return;
+
+        if (context) {
+            destroy();
+            
+            glXMakeCurrent(display, None, 0);
+            glXDestroyContext(display, context);
+        }
+
+        XCloseDisplay(display);        
+    }
+    
+    bool init(int w, int h, const char *title)
+    {
+	display = XOpenDisplay(0);
+        if (!display)
+            return false;        
+        XVisualInfo *vi = makeVisualInfo(display);
+        if (!vi)
+            return false;
+        
+	context = glXCreateContext(display, vi, 0, True);
+        if (!context)
+            return false;
+
+        width = w;
+        height = h;
+        window = makeWindow(display, vi, width, height);
+        if (!window)
+            return false;
+        
+        XStoreName(display, window, title);
+
+        {
+            XClassHint classHint;
+            classHint.res_name = const_cast<char*>(title);
+            char classname[] = "glwindow";
+            classHint.res_class = classname;
+            XSetClassHint(display, window, &classHint);
+            XMapWindow(display, window);
+        }
+        
+        XEvent ev;
+        do {
+            XNextEvent(display, &ev);
+        } while (ev.type != MapNotify);
+
+        visible = true;
+        delete_atom = XInternAtom(display, "WM_DELETE_WINDOW", True);
+        XSetWMProtocols(display, window, &delete_atom, 1);
+        
+        cursor = XCreateFontCursor(display, ' ');
+        return true;
+    }
+
+    void destroy()
+    {
+        if (window) {
+            XUnmapWindow(display, window);
+            XDestroyWindow(display, window);
+            window = 0;
+        }
+    }
+    
+    void swap_buffers()
+    {
+        if (window) {
+            glXSwapBuffers(display, window);
+        }
+    }
+
+    void set_title(const char *title)
+    {
+        if (window) {
+            XStoreName(display, window, title);
+        }
+    }
+    
+    bool make_current()
+    {
+        if (!window)
+            return false;
+        glXMakeCurrent(display, window, context);
+        return true;
+    }
+};
+
+GLWindow::GLWindow(int w, int h, const char *title)
+{
+    sys_state = new SystemState();
+    sys_state->init(w, h, title);
+    all_windows.push_back(this);
+}
+
+GLWindow::~GLWindow()
+{
+    for (size_t i=0; i<all_windows.size(); ++i) {
+        if (all_windows[i] == this) {
+            all_windows[i] = all_windows.back();
+            all_windows.pop_back();
+            break;
+        }
+    }
+    delete sys_state;
+}
+
+int GLWindow::width() const
+{
+    return sys_state->width;
+}
+
+int GLWindow::height() const
+{
+    return sys_state->height;
+}
+
+bool GLWindow::visible() const
+{
+    return sys_state->visible;
+}
+
+bool GLWindow::alive() const
+{
+    return 0 != sys_state->window;
+}
+            
+bool GLWindow::make_current()
+{
+    if (!sys_state->make_current())
+        return false;
+    
+    active_context = this;
+    return true;
+}
+
+void GLWindow::swap_buffers()
+{
+    sys_state->swap_buffers();
+}
+        
+void GLWindow::set_size(int w, int h)
+{
+    if (!alive())
+        return;
+        
+    XWindowChanges c;
+    c.width = w;
+    c.height = h;
+    XConfigureWindow(sys_state->display,
+                     sys_state->window,
+                     CWWidth | CWHeight,
+                     &c);
+}
+
+void GLWindow::set_position(int x, int y)
+{
+    if (!alive())
+        return;
+    
+    XWindowChanges c;
+    c.x = x;
+    c.y = y;
+    XConfigureWindow(sys_state->display,
+                     sys_state->window,
+                     CWX | CWY,
+                     &c);
+}
+        
+void GLWindow::set_title(const char* title)
+{
+    if (!alive())
+        return;
+    
+    sys_state->set_title(title);
+}
+
+static int convert_button_state(unsigned int state)
+{
+    int s = 0;
+    if (state & Button1Mask) s |= ButtonEvent::LEFT;
+    if (state & Button2Mask) s |= ButtonEvent::MIDDLE;
+    if (state & Button3Mask) s |= ButtonEvent::RIGHT;
+    if (state & ControlMask) s |= ButtonEvent::MODKEY_CTRL;
+    if (state & ShiftMask) s |= ButtonEvent::MODKEY_SHIFT;
+    return s;
+}
+    
+static int convert_button(int button)
+{
+    switch (button) {
+    case Button1: return ButtonEvent::LEFT;
+    case Button2: return ButtonEvent::MIDDLE;
+    case Button3: return ButtonEvent::RIGHT;
+    default: return 0;
+    }
+}
+
+static int convert_keycode(int key)
+{
+    switch (key) {
+    case XK_BackSpace: return KeyCode::BACKSPACE;
+    case XK_Tab: return KeyCode::TAB;
+    case XK_Return: return KeyCode::ENTER;
+    case XK_Shift_L: return KeyCode::SHIFT;
+    case XK_Shift_R: return KeyCode::SHIFT;
+    case XK_Control_L: return KeyCode::CTRL;
+    case XK_Control_R: return KeyCode::CTRL;
+    case XK_Alt_L: return KeyCode::ALT;
+    case XK_Alt_R: return KeyCode::ALT;
+    case XK_Super_L: return KeyCode::SUPER;
+    case XK_Super_R: return KeyCode::SUPER;
+    case XK_Caps_Lock: return KeyCode::CAPSLOCK;
+    case XK_Delete: return KeyCode::DEL;
+    case XK_Escape: return KeyCode::ESCAPE;
+    case XK_Left: return KeyCode::LEFT;
+    case XK_Up: return KeyCode::UP;
+    case XK_Right: return KeyCode::RIGHT;
+    case XK_Down: return KeyCode::DOWN;
+    }
+    return key;
+}
+
+void GLWindow::handle_events()
+{
+    if (!alive())
+        return;
+    
+    XEvent event;
+    KeySym key;
+    const int text_size = 64;
+    char text[text_size];
+    int len;
+    EventDispatcher dispatcher(handlers);
+
+    int btn, state;
+    
+    while (XPending(sys_state->display))
+    {           
+        XNextEvent(sys_state->display, &event);
+        //std::cerr << "event " << event.type << std::endl;
+        switch (event.type) {
+        case ButtonPress:
+            state = convert_button_state(event.xbutton.state);
+            if (event.xbutton.button == Button4) {
+                // MouseWheel down
+                dispatcher.on_mouse_wheel(*this, state, event.xbutton.x, event.xbutton.y, 0, 1);
+            } else if (event.xbutton.button == Button5) {
+                // MouseWheel up
+                dispatcher.on_mouse_wheel(*this, state, event.xbutton.x, event.xbutton.y, 0, -1);
+            } else {
+                btn = convert_button(event.xbutton.button);
+                dispatcher.on_button_down(*this, btn, state, event.xbutton.x, event.xbutton.y);
+            }
+            break;
+            
+        case ButtonRelease:
+            if (event.xbutton.button == Button4 ||
+                event.xbutton.button == Button5)
+                break;            
+            btn = convert_button(event.xbutton.button);            
+            state = convert_button_state(event.xbutton.state);
+            dispatcher.on_button_up(*this, btn, state, event.xbutton.x, event.xbutton.y);
+            break;
+            
+        case MotionNotify:
+            state = convert_button_state(event.xbutton.state);
+            dispatcher.on_mouse_move(*this, state, event.xmotion.x, event.xmotion.y);
+            break;
+            
+        case KeyPress:
+            len = XLookupString(&event.xkey, text, text_size-1, &key, 0);
+            dispatcher.on_key_down(*this, convert_keycode(key));
+            if (len > 0) {
+                text[len] = 0;
+                dispatcher.on_text(*this, text, len);
+            }
+            break;
+            
+        case KeyRelease:
+            XLookupString(&event.xkey, 0, 0, &key, 0);
+            dispatcher.on_key_up(*this, convert_keycode(key));
+            break;
+            
+        case ConfigureNotify:
+            sys_state->width = event.xconfigure.width;
+            sys_state->height = event.xconfigure.height;
+            dispatcher.on_resize(*this, event.xconfigure.x, event.xconfigure.y,
+                                 sys_state->width, sys_state->height);
+            break;
+
+        case VisibilityNotify:
+            if (event.xvisibility.state == VisibilityFullyObscured)
+                sys_state->visible = false;
+            else
+                sys_state->visible = true;
+            break;
+
+        case DestroyNotify:
+            //std::cerr << "DestroyNotify" << std::endl;
+            //sys_state->window = 0;
+            break;
+            
+        case Expose:
+            //std::cerr << "Expose" << std::endl;
+            break;
+            
+        case ClientMessage:
+            if (event.xclient.data.l[0] == (int)sys_state->delete_atom) {
+                if (!dispatcher.on_close(*this))
+                    destroy();
+            }
+            break;
+            
+        default:
+            break;
+        }
+    }    
+}
+
+void GLWindow::destroy()
+{
+    sys_state->destroy();
+}
diff --git a/src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.cpp b/src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.cpp
new file mode 100644
index 0000000..2b6e854
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.cpp
@@ -0,0 +1,181 @@
+// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow
+
+#include "scenewindow.hpp"
+#include <GL/gl.h>
+#include <cmath>
+#include <iostream>
+
+using namespace glwindow;
+
+SceneWindow::SceneWindow(int width, int height, const char *title)
+    : win(width, height, title)
+{
+    dragging = false;
+    drawing = false;
+    win.add_handler(this);
+}
+
+SceneWindow::~SceneWindow()
+{
+}
+
+void SceneWindow::update()
+{
+    win.handle_events();
+}
+
+SceneWindow::Viewpoint::Viewpoint()
+{
+    target[0] = -0.05;
+    target[1] = -0.75;
+    target[2] = 0.;
+    azimuth   = 0.;
+    elevation = 0.0;
+    distance  = 8.0;
+}
+
+static void set_viewpoint(const SceneWindow::Viewpoint &vp)
+{
+    const double RAD_TO_DEG = 180.0 / 3.141592653589793;
+    glTranslated(0,0,vp.distance);
+    glRotated(vp.elevation * RAD_TO_DEG, 1, 0, 0);
+    glRotated(vp.azimuth * RAD_TO_DEG, 0, 1, 0);
+    glTranslated(-vp.target[0], -vp.target[1], -vp.target[2]);
+}
+
+bool SceneWindow::start_draw()
+{
+    if (!win.alive() || drawing)
+        return false;
+
+    drawing = true;
+
+    win.push_context();
+    glPushAttrib(GL_COLOR_BUFFER_BIT | GL_CURRENT_BIT | GL_ENABLE_BIT);
+    
+    glViewport(0, 0, win.width(), win.height());
+    double aspect = (double)win.width() / (double)std::max(win.height(),1);
+    
+    glMatrixMode(GL_PROJECTION);
+    glLoadIdentity();
+    double znear = 0.01;
+    double zfar = 100.0;
+    double fy = 0.6 * znear;
+    double fx = aspect * fy;
+    glFrustum(-fx,fx,-fy,fy, znear, zfar);
+    
+    glMatrixMode(GL_MODELVIEW);
+    glLoadIdentity();
+    glScaled(1, -1, -1);
+    
+    set_viewpoint(viewpoint);
+
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+    
+    glEnable(GL_DEPTH_TEST);
+    glDepthFunc(GL_LEQUAL);
+    glDisable(GL_LIGHTING);
+
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+    
+    return true;
+}
+
+
+void SceneWindow::finish_draw()
+{
+    if (!drawing)
+        return;
+
+    glPopAttrib();
+    glFlush();
+    win.swap_buffers();
+    win.handle_events();
+    
+    win.pop_context();
+    drawing = false;
+}
+
+bool SceneWindow::on_key_down(GLWindow& win, int key)
+{
+    return true;
+}
+
+bool SceneWindow::on_button_down(GLWindow& win, int btn, int state, int x, int y)
+{
+    if (dragging)
+        return false;
+
+    //std::cerr << "down " << btn << std::endl;
+    drag_btn = btn;
+    x0 = x;
+    y0 = y;
+    vp0 = viewpoint;
+    inv_w0 = 1.0 / win.width();
+    inv_h0 = 1.0 / win.height();
+    dragging = true;
+    
+    return true;
+}
+
+bool SceneWindow::on_button_up(GLWindow& win, int btn, int state, int x, int y)
+{
+    //std::cerr << "up " << btn << std::endl;
+    dragging = false;
+    return true;
+}
+
+bool SceneWindow::on_mouse_move(GLWindow& win, int state, int x, int y)
+{
+    int idx = x - x0;
+    int idy = y - y0;
+    double dx = idx * inv_w0;
+    double dy = idy * inv_w0;
+
+    //std::cerr << dx << ", " << dy << std::endl;
+
+    if (!dragging)        
+        return false;
+
+    if (drag_btn == ButtonEvent::LEFT) {
+        viewpoint.azimuth = vp0.azimuth - dx * 4.0;
+        viewpoint.elevation = vp0.elevation + dy * 4.0;
+        return true;
+    } else if (drag_btn == ButtonEvent::RIGHT) {
+        viewpoint.distance = ::exp(dy * 4.0) * vp0.distance;
+        return true;
+    } else if (drag_btn == ButtonEvent::MIDDLE) {
+        double sa = ::sin(-vp0.azimuth);
+        double ca = ::cos(-vp0.azimuth);
+        double se = ::sin(vp0.elevation);
+        double ce = ::cos(vp0.elevation);
+
+        double tx = -idx * 0.003;
+        double ty = -idy * 0.003;
+        
+        double dtx = ca * tx - se*sa*ty;
+        double dty = ce * ty;
+        double dtz = -sa*tx - se*ca*ty;
+        double r = vp0.distance;
+        
+        viewpoint.target[0] = vp0.target[0] + r*dtx;
+        viewpoint.target[1] = vp0.target[1] + r*dty;
+        viewpoint.target[2] = vp0.target[2] + r*dtz;
+        return true;
+    }
+
+    return false;
+}
+
+bool SceneWindow::on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy)
+{
+    viewpoint.distance *= ::exp(dy * -0.08);
+    return true;
+}
+
+bool SceneWindow::on_resize(GLWindow& win, int x, int y, int w, int h)
+{
+    return false;
+}
+
diff --git a/src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.hpp b/src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.hpp
new file mode 100644
index 0000000..6984f1c
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/examples/glViewer/scenewindow.hpp
@@ -0,0 +1,49 @@
+// Copyright (c) Ethan Eade, https://bitbucket.org/ethaneade/glwindow
+
+#pragma once
+
+#include "glwindow.hpp"
+
+namespace glwindow
+{
+
+    class SceneWindow : public EventHandler
+    {
+    public:
+
+        struct Viewpoint
+        {
+            double target[3];
+            double azimuth, elevation, distance;
+            Viewpoint();
+        };
+        
+        SceneWindow(int width, int height, const char *title);
+        virtual ~SceneWindow();
+
+        void update();
+
+        bool start_draw();
+        void finish_draw();
+
+        GLWindow win;
+        Viewpoint viewpoint;
+        
+    protected:
+        bool on_key_down(GLWindow& win, int key);
+        bool on_button_down(GLWindow& win, int btn, int state, int x, int y);
+        bool on_button_up(GLWindow& win, int btn, int state, int x, int y);
+        bool on_mouse_move(GLWindow& win, int state, int x, int y);
+        bool on_mouse_wheel(GLWindow& win, int state, int x, int y, int dx, int dy);
+        bool on_resize(GLWindow& win, int x, int y, int w, int h);        
+        
+        bool dragging;
+        int drag_btn;
+        int x0, y0;
+        double inv_w0, inv_h0;
+        Viewpoint vp0;
+
+        bool drawing;
+    };
+    
+}
diff --git a/src/Robot/UnitreecameraSDK/include/StereoCameraCommon.hpp b/src/Robot/UnitreecameraSDK/include/StereoCameraCommon.hpp
new file mode 100644
index 0000000..e0efce2
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/include/StereoCameraCommon.hpp
@@ -0,0 +1,659 @@
+/**
+  * @file StereoCameraCommon.hpp
+  * @brief This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs.  
+  * @details image capture, image rectification, disparity computation, depth image and point cloud generation
+  * @author SunMingzhe
+  * @date  2021.12.1
+  * @version 1.1.0
+  * @copyright Copyright (c)2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  * Use of this source code is governed by the MPL-2.0 license, see LICENSE.
+  * @ref ZhangChunyang v1.0.1
+  */
+#ifndef __STEREO_CAMERA_COMMOM_HPP__
+#define __STEREO_CAMERA_COMMOM_HPP__
+
+#include <string>
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include <opencv2/opencv.hpp>
+#include <chrono>
+#include "SystemLog.hpp"
+
+/**
+  * @struct PCL
+  * @brief this struct is used for rendering point cloud by RGB color
+  * @details pts for point coordinates (x, y, z), clr for point color (b, g, r)
+  * @note point cloud simple type 
+  * @attention point data element type float, color data element type uchar 
+  */
+typedef struct PCL {
+  cv::Vec3f pts;  ///< points coordinates (x, y, z)
+  cv::Vec3b clr;  ///< points color (b, g, r)
+}PCLType;
+/**
+  * @class StereoCamera
+  * @brief this class provide the APIs of the algorithm and opration method of stereo cameras
+  * @details this class is the base of UnitreeCameraSDK, it includes many functions, such as
+  * camera frame capturing, image rectification, disparity computation, generating point cloud and etc.
+  */
+class StereoCamera
+{
+private:
+    typedef struct TimeFrame{
+        cv::Mat data1;                        ///< frame data
+        cv::Mat data2;                        ///< frame data
+        std::chrono::microseconds timeStamp;  ///< time since 1970-01-01 00:00:00, unit is microseconds(10^-6 s) 
+    }TimeFrameType;
+private:
+    int m_radius = 0;
+    int m_algorithm = 0;
+    int m_logLevel = 1;
+    int m_deviceNode = 0;
+    int m_posNumber = 0;
+    int m_serialNumber = 0;
+    int m_threshold = 120;
+    float m_frameRate = 30.0;
+    int m_ipLastSegment = 15;
+
+    bool m_shareMemSupport = false;
+    bool m_udpH264Support = false;
+    bool m_isOpened = false;
+    bool m_isCompute = false;
+    float maxdepth = 1;
+    float mindepth = 0.05;
+
+    int m_transmode = -1;
+    double m_transrate = 0;
+    double m_hfov = 90;
+    double default_pfov = 90;
+    double default_fov = 222;
+    double default_llfov = 180;
+    int m_depthmode = 1; 
+
+    cv::VideoWriter gstWriter;
+
+    cv::Size m_frameSize;
+    cv::Size m_rectSize;
+
+    TimeFrameType m_stampFrame, m_dispFrame;
+    
+    cv::Mat m_leftXi,m_leftRotation,m_leftIntrinsic,m_leftDistortion;
+    cv::Mat m_rightXi,m_rightRotation,m_rightIntrinsic,m_rightDistortion;
+    cv::Mat m_translation;
+       
+    cv::Mat m_kfe, m_fmap[2][2], m_lmap[2][2], m_lagerFmap[2];
+    
+    SystemLog *m_log = nullptr;
+    std::string m_logName = "StereoCamera";
+    
+    std::mutex m_capLock, m_dispLock;
+    std::condition_variable m_capTrigger, m_dispTrigger;
+    
+    cv::VideoCapture *m_videoCap = nullptr;
+    
+    std::thread *m_capWorker = nullptr;
+    std::thread *m_dispWorker = nullptr;
+
+
+public:
+    /**
+      * @fn StereoCamera
+      * @brief StereoCamera
+      * @details default constructor
+      * @param[in] None
+      * @param[out] None
+      * @return None
+      * @note initialize StereoCamera object by default settings
+      * @code
+      *     StereoCamera *pCam = new StereoCamera(); // or StereoCamera cam;
+      * @endcode
+      */
+    StereoCamera(void);
+    /**
+      * @fn StereoCamera
+      * @brief StereoCamera constructor
+      * @details use camera config file to init stereo camera
+      * @param[in] fileName camera config file, include file path, for example: ~/test/stereoConfig.yaml
+      * @param[out] None
+      * @return None
+      * @note initialize StereoCamera object by settings from configure file
+      * @code
+      *     StereoCamera("path_to/config.yaml");
+      * @endcode
+      */
+    StereoCamera(std::string fileName);
+    /**
+      * @overload
+      * @fn StereoCamera 
+      * @brief StereoCamera constructor overload
+      * @details use camera device node number to initialize stereo camera object
+      * @param[in] deviceNode camera device node, for example: /dev/video0, camera device node: 0
+      * @param[out] None
+      * @return None
+      * @note initialize StereoCamera object by device node number
+      * @code
+      *     StereoCamera(0); // for /dev/video0
+      * @endcode
+      */
+    StereoCamera(int deviceNode);
+    /**
+      * @fn ~StereoCamera() 
+      * @brief StereoCamera destructor
+      * @details release all stereo camera resource
+      * @param[in] None
+      * @param[out] None
+      * @return None
+      * @note automatically called when StereoCamera object released
+      */
+    virtual ~StereoCamera();
+    
+public:
+    /**
+      * @fn isOpened
+      * @brief get stereo camera running status 
+      * @details detect camera is opened or closed
+      * @param[in] None
+      * @param[out] None
+      * @return true or false, if camera is opened return true, otherwise return false
+      * @note tell camera running status, it should be called after StereoCamera object initialization 
+      * @code
+      *     StereoCamera cam;
+      *     if(cam.isOpened())
+      *         printf("Camera is opened!");
+      * @endcode
+      */
+    virtual bool isOpened(void);
+    /**
+      * @fn setLogLevel
+      * @brief set stereo camera ouput log level 
+      * @details log level means that different kind of information will be output
+      * @param[in] level
+      * @param[out] None
+      * @return true or false, if assignment successfully return true, otherwise return false
+      * @note output information starts with "StereoCamera", it should be called after StereoCamera object initialization 
+      * @code
+      *     cam.setLogLevel(2); //debug level 
+      * @endcode
+      */
+    virtual bool setLogLevel(int level);
+    /**
+      * @fn setPosNumber
+      * @brief set stereo camera position number 
+      * @details position number means that the number of camera location in robot body
+      * @param[in] posNumber
+      * @param[out] None
+      * @return true or false, if assignment successfully return true, otherwise return false
+      * @note face NO.1, chin NO.2, left NO.3, right NO.4, down NO.5
+      * @code
+      *     cam.setPosNumber(2);
+      * @endcode
+      */
+    virtual bool setPosNumber(int posNumber);
+    /**
+      * @fn setSerialNumber
+      * @brief set stereo camera serial number 
+      * @details serial number same as robot serial number
+      * @param[in] serialNumber
+      * @param[out] None
+      * @return true or false, if assignment successfully return true, otherwise return false
+      * @note 
+      * @code
+      *     cam.setSerialNumber(2);
+      * @endcode
+      */
+    virtual bool setSerialNumber(int serialNumber);
+    /**
+      * @fn setRawFrameRate
+      * @brief set stereo camera FPS (Frames Per Seconds)
+      * @details for 1856X800 FPS:30, for 928x400 FPS:30 or 60
+      * @param[in] frameRate
+      * @param[out] None
+      * @return true or false, if assignment successfully return true, otherwise return false
+      * @note 
+      * @code
+      *     cam.setRawFrameRate(30)
+      * @endcode
+      */
+    virtual bool setRawFrameRate(int frameRate);
+    /**
+      * @fn setRawFrameSize
+      * @brief set stereo camera frame size
+      * @details There are two choise: 1856X800,928x400.
+      * @param[in] frameSize
+      * @param[out] None
+      * @return true or false, if assignment successfully return true, otherwise return false
+      * @attention if do not assign frameSize, default size is 1856x800 
+      * @note
+      * @code
+      *    cam.setRawFrameSize(cv::Size(1856, 800));
+      * @endcode
+      */
+    virtual bool setRawFrameSize(cv::Size frameSize);
+    /**
+      * @fn setRectFrameSize
+      * @brief set rectification image size
+      * @details this size should keep ratio as camera raw image size, for example: raw single frame size: 928x800
+      * rectification image size: 464x400 or 232x200
+      * @param[in] frameSize
+      * @param[out] None
+      * @return true or false, if assignment successfully return true, otherwise return false
+      * @attention rectification image size must be smaller than camera raw single image size 
+      * @note
+      * @code
+      *     cam.setRawFrameSize(cv::Size(464, 400));
+      * @endcode
+      */
+    virtual bool setRectFrameSize(cv::Size frameSize);
+    /**
+      * @fn setCalibParams
+      * @brief set stereo camera calibration parameters
+      * @details calibration paramerters include: camera intrinsic matrix, 
+      * camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix
+      * @param[in] paramsArray arrange Array element as follows: intrinsic,distortion,xi,rotation,translation,kfe
+      * @param[in] flag false: set left camera params, true: right camera params
+      * @param[out] None
+      * @return true or false, if assignment successfully return true, otherwise return false
+      * @attention the order of parameters should be correct
+      * @note 
+      * @code
+      *     std::vector<cv::Mat> leftParamsArray;
+      *     cam.setCalibParams(leftParamsArray);
+      * @endcode
+      */
+    virtual bool setCalibParams(std::vector<cv::Mat> paramsArray, bool flag = false);
+    /**
+      * @fn getLogLevel
+      * @brief get log system output level
+      * @details 
+      * @param[in] None 
+      * @param[out] None
+      * @return log level
+      * @note 1: output runtime information, 2: output runtime infomation and debug information
+      * @code
+      *     int LogLevel = cam.getLogLevel();
+      * @endcode
+      */
+    virtual int getLogLevel(void) const;
+    /**
+      * @fn getDeviceNode
+      * @brief get camera device node 
+      * @details 
+      * @param[in] None 
+      * @param[out] None
+      * @return device node number
+      * @note  for example: /dev/video2, device node number is 2, the return value of function is 2. 
+      * @code
+      *     int nodeNumber = cam.getDeviceNode();
+      * @endcode
+      */
+    virtual int getDeviceNode(void) const;
+    /**
+      * @fn getPosNumber
+      * @brief get stereo camera device node
+      * @details 
+      * @param[in] None 
+      * @param[out] None
+      * @return positon number 
+      * @note face NO.1, chin NO.2, left NO.3, right NO.4, down NO.5
+      * @code
+      *     int posNum = cam.getPosNumber();
+      * @endcode
+      */
+    virtual int getPosNumber(void) const;
+    /**
+      * @fn getSerialNumber
+      * @brief get stereo camera serial number
+      * @details this number is same as robot serial number
+      * @param[in] None 
+      * @param[out] None
+      * @return robot serial number 
+      * @note 
+      * @code
+      *     int seiralNumber = cam.getSerialNumber();
+      * @endcode
+      */
+    virtual int getSerialNumber(void) const;
+    /**
+      * @fn getRawFrameRate
+      * @brief get stereo camera capture frame rate  
+      * @details 
+      * @param[in] None 
+      * @param[out] None
+      * @return current stereo camera fps.
+      * @code 
+      *     float fps = getRawFrameRate();
+      * @endcode
+      */
+    virtual float getRawFrameRate(void) const;
+    /**
+      * @fn getRawFrameSize
+      * @brief get stereo camera frame size  
+      * @details 
+      * @param[in] None 
+      * @param[out] None
+      * @return frame size.
+      * @code
+      *     cv::Size fSize = cam.getRawFrameSize();
+      * @endcode
+      */
+    virtual cv::Size getRawFrameSize(void) const;
+    /**
+      * @fn getRawFrame
+      * @brief get stereo camera raw frame
+      * @details 
+      * @param[in] None 
+      * @param[out] frame raw frame, include left and right image
+      * @param[out] timeStamp  raw frame time stamp
+      * @return true or false, if frame is not empty, return true, otherwise return false. 
+      * @note 
+      * @code
+      *     cv::Mat frame;
+      *     std::chrono::microseconds timeStamp
+      *     cam.getRawFrame(frame, timeStamp);
+      * @endcode
+      */
+    virtual bool getRawFrame(cv::Mat &frame, std::chrono::microseconds &timeStamp);
+    /**
+      * @fn getStereoFrame
+      * @brief get stereo camera left and right image
+      * @details 
+      * @param[in] None 
+      * @param[out] left left image
+      * @param[out] right right image
+      * @param[out] timeStamp  frame time stamp
+      * @return true or false, if left and right images are not empty, return true, otherwise return false. 
+      * @attention This funtion must be called after startCapture().
+      * @note 
+      * @code
+      *     cam.startCapture();
+      *     cv::Mat left, right;
+      *     std::chrono::microseconds timeStamp;
+      *     if(cam.getRawFrame(left,right, timeStamp)){
+      *         //do something
+      *     }
+      * @endcode
+      */
+    virtual bool getStereoFrame(cv::Mat &left, cv::Mat &right, std::chrono::microseconds &timeStamp);
+    /**
+      * @fn getDepthFrame
+      * @brief get stereo camera depth image
+      * @details 
+      * @param[in] color  true: depth is color image, false:depth is gray image
+      * @param[out] depth left image
+      * @param[out] timeStamp  frame time stamp
+      * @return true or false, if depth image is not empty, return true, otherwise return false. 
+      * @attention This funtion must be called after startCapture().
+      * @note 
+      * @code
+      *     cam.startCapture();
+      *     cam.startStereoCompute();
+      *     cv::Mat depth;
+      *     std::chrono::microseconds timeStamp;
+      *     if(cam.getPointCloud(depth, true, timeStamp)){
+      *         //do something
+      *     }
+      * @endcode
+      */
+    virtual bool getDepthFrame(cv::Mat& depth, bool color, std::chrono::microseconds &timeStamp);
+    /**
+      * @fn getPointCloud
+      * @brief get a stereo camera point cloud frame
+      * @details A point cloud is a dataset of points in a coordinate frame.
+      * @param[in] None
+      * @param[out] pcl point cloud, which element has 3D coordinates information (x, y, z) 
+      * @param[out] timeStamp  poind cloud time stamp
+      * @return true or false, if point cloud size bigger than 0, return true, otherwise return false. 
+      * @attention This funtion must be called after startCapture() and startStereoCompute()
+      * @note
+      * @code
+      *     cam.startCapture();
+      *     cam.startStereoCompute();
+      *     std::vector<cv::Vec3f> pcl;
+      *     std::chrono::microseconds timeStamp;
+      *     if(cam.getPointCloud(pcl, timeStamp)){
+      *         //do something
+      *     }
+      * @endcode
+      */
+
+
+    virtual void getDepthFrame(cv::Mat& dispf, cv::Mat& depth);
+
+    virtual bool getPointCloud(std::vector<cv::Vec3f> &pcl, std::chrono::microseconds &timeStamp);
+    /**
+      * @overload
+      * @fn getPointCloud
+      * @brief get a stereo camera point cloud frame
+      * @details A point cloud is a dataset of points in a coordinate frame.
+      * @param[in] None
+      * @param[out] pcl point cloud, which element has 3D coordinates information (x, y, z) and color information (B, G, R)
+      * @param[out] timeStamp  poind cloud time stamp
+      * @return true or false, if point cloud size bigger than 0, return true, otherwise return false. 
+      * @attention This funtion must be called after startCapture() and startStereoCompute()
+      * @note
+      * @code
+      *     cam.startCapture();
+      *     cam.startStereoCompute();
+      *     std::vector<PCLType> pcl;
+      *     std::chrono::microseconds timeStamp;
+      *     if(cam.getPointCloud(pcl, timeStamp)){
+      *         //do something
+      *     }
+      * @endcode
+      */
+    virtual bool getPointCloud(std::vector<PCLType>& pcl, std::chrono::microseconds& timeStamp);
+    /**
+      * @fn getCalibParams
+      * @brief get stereo camera calibration paramerters
+      * @details calibration paramerters include: camera intrinsic matrix, 
+      * camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix
+      * @param[in] flag default false, false: get left camera parameters, true: get right camera parameters.
+      * @param[out] paramsArray arrange Array element as follows: intrinsic,distortion,xi,rotation,translation,kfe
+      * @return true or false, if assignment successfully return true, otherwise return false 
+      * @attention This funtion must be called after startCapture()
+      * @note
+      * @code
+      *     cam.startCapture();
+      *     std::vector<cv::Mat> paramsArray;
+      *     if(cam.getCalibParams(paramsArray)){
+      *         //do something
+      *     }
+      * @endcode
+      */
+    virtual bool getCalibParams(std::vector<cv::Mat> &paramsArray, bool flag = false);
+    /**
+      * @fn getRectStereoFrame
+      * @brief get stereo camera rectification image
+      * @details 
+      * @param[in] None
+      * @param[out] left rect left image, use LONGLAT
+      * @param[out] right rect right image, use LONGLAT
+      * @param[out] feim rect left image, use PERSPECTIVE
+      * @return true or false, if left, right and feim are not empty return true, otherwise return false 
+      * @attention This funtion must be called after startCapture()
+      * @note
+      * @code
+      *     cam.startCapture();
+      *     left, right, feim;
+      *     if(cam.getRectStereoFrame(left, right, feim)){
+      *         //do something
+      *     }
+      * @endcode
+      */
+    virtual bool getRectStereoFrame(cv::Mat &left, cv::Mat &right, cv::Mat &feim);
+    /**
+      * @fn getRectStereoFrame
+      * @brief get stereo camera rectification image
+      * @details 
+      * @param[in] None
+      * @param[out] left rect left image, use PERSPECTIVE
+      * @param[out] right rect right image, use PERSPECTIVE
+      * @return true or false, if left, right are not empty return true, otherwise return false 
+      * @attention This funtion must be called after startCapture()
+      * @note
+      * @code
+      *     cam.startCapture();
+      *     left, right;
+      *     if(cam.getRectStereoFrame(left, right)){
+      *         //do something
+      *     }
+      * @endcode
+      */
+    virtual bool getRectStereoFrame(cv::Mat &left, cv::Mat &right);
+    /**
+      * @overload 
+      * @fn getRectStereoFrame
+      * @brief get stereo camera rectification image
+      * @details 
+      * @param[in] None
+      * @param[out] left rect left image, use LONGLAT
+      * @param[out] right rect right image, use LONGLAT
+      * @param[out] feim rect left image, use PERSPECTIVE
+      * @param[out] timeStamp images timeStamp
+      * @return true or false, if left, right and feim are not empty return true, otherwise return false 
+      * @attention This funtion must be called after startCapture()
+      * @note
+      * @code
+      *     cam.startCapture();
+      *     cv::Mat left, right, feim;
+      *     if(cam.getRectStereoFrame(left, right, feim)){
+      *         //do something
+      *     }
+      * @endcode
+      */
+    virtual bool getRectStereoFrame(cv::Mat &left, cv::Mat &right, cv::Mat &feim, std::chrono::microseconds &timeStamp);
+    /**
+      * @fn loadConfig
+      * @brief load stereo camera config parameters 
+      * @details parameters include: LogLevel,Threshold,Algorithm,IpLastSegment,
+      * DeviceNode,FrameSize,RectifyFrameSize,FrameRate, etc.
+      * @param[in] fileName config name: include config path, for example: "path_to/config.yaml"
+      * @param[out] None
+      * @return true or false, if load config file successfully return true, otherwise return false 
+      * @attention This funtion must be called before startCapture() and after init the camera object.
+      * @note 
+      * @code
+      *     cam.loadConfig("path_to/config.yaml");
+      *     cam.startCapture();
+      * @endcode
+      */
+    virtual bool loadConfig(std::string fileName);
+    /**
+      * @fn loadCalibParams
+      * @brief load stereo camera calibration params  
+      * @details calibration paramerters include: camera intrinsic matrix, 
+      * camera distortion coefficient, xi(mei model), rotation matrix, translation vector, rectification image intrinsic matrix, etc.
+      * @param[in] fileName calibration file name: include file path, for example: "path_to/calib.yaml"
+      * @param[out] None
+      * @return true or false, if load file successfully return true, otherwise return false 
+      * @attention This funtion must be called before startCapture() and after loadConfig("xxx");
+      * @note 
+      * @code
+      *     cam.loadConfig("path_to/config.yaml");
+      *     cam.loadCalibParams("path_to/calib.yaml");
+      *     cam.startCapture();
+      * @endcode
+      */
+    virtual bool loadCalibParams(std::string fileName);
+    /**
+      * @fn saveConfig
+      * @brief save stereo camera settings to config file 
+      * @details 
+      * @param[in] fileName default name: stereo_camera_config.yaml, 
+      * output config file: include file path, for example: "path_to/config.yaml"
+      * @param[out] None
+      * @return true or false, if save file successfully return true, otherwise return false 
+      * @code
+      *     cam.saveConfig("stereo_camera_config.yaml");
+      * @endcode
+      */
+    virtual bool saveConfig(std::string fileName = "stereo_camera_config.yaml");
+    /**
+      * @fn saveCalibParams
+      * @brief save stereo camera calibration parameters to file 
+      * @details 
+      * @param[in] fileName default name: stereo_camera_calibparams.yaml, 
+      * output file: include file path, for example: "path_to/calib.yaml"
+      * @param[out] None
+      * @return true or false, if save file successfully return true, otherwise return false 
+      * @code
+      *     cam.saveConfig("stereo_camera_config.yaml");
+      * @endcode
+      */
+    virtual bool saveCalibParams(std::string fileName = "stereo_camera_calibparams.yaml");
+    /**
+      * @fn startCapture
+      * @brief start stereo camera capture thread 
+      * @details 
+      * @param[in] udpFlag default false, true: enable using H264 encode camera frame and send it by gstream udp command 
+      * @param[in] shmFlag default false, true: enable using share memory to share camera frame 
+      * @param[out] None
+      * @return true or false, if create capture thread successfully return true, otherwise return false 
+      * @note 
+      * gstreamer send command: "appsrc ! videoconvert ! omxh264enc ! video/x-h264, stream-format=byte-stream ! rtph264pay ! udpsink host=192.168.123.SEG port=hostPort". 
+      * SEG is last segment of your recieve board IP, its range from 2~254,for example: 13, host=192.168.123.13.
+      * hostPort is defined by the result of adding camera position number and 9000, for example: camera positon number is 5, port=9005.
+      * share memory key number is defined by the result of adding camera position number and 9000.
+      * This function must be called after camera config or settings finished.
+      * @code
+      *     cam.startCapture(true, false); // support h264 encode frame and send it by udp
+      * @endcode
+      */
+    virtual bool startCapture(bool udpFlag = false, bool shmFlag = false);
+    /**
+      * @fn startStereoCompute
+      * @brief start stereo camera computing disparity thread 
+      * @details 
+      * @param[in] None
+      * @param[out] None
+      * @return true or false, if create thread successfully return true, otherwise return false 
+      * @attention This function must be called after startCapture();
+      * @note 
+      * @code
+      *     cam.startCapture();
+      *     cam.startStereoCompute();
+      * @endcode
+      */
+    virtual bool startStereoCompute(void);
+    /**
+      * @fn stopStereoCompute
+      * @brief stop stereo camera computing disparity thread 
+      * @details 
+      * @param[in] None
+      * @param[out] None
+      * @return true or false, if stop thread successfully return true, otherwise return false 
+      * @attention This function must be called after startStereoCompute()
+      * @note 
+      * @code
+      *     cam.startStereoCompute();
+      *     cam.stopStereoCompute();
+      * @endcode
+      */
+    virtual bool stopStereoCompute(void);
+    /**
+      * @fn stopCapture
+      * @brief stop stereo camera capture thread 
+      * @details 
+      * @param[in] None
+      * @param[out] None
+      * @return true or false, if stop thread successfully return true, otherwise return false 
+      * @attention This function must be called after startCapture().
+      * @note
+      * @code
+      *     cam.startCapture();
+      *     cam.startStereoCompute();
+      *     cam.stopStereoCompute();
+      *     cam.stopCapture();
+      * @endcode
+      */
+    virtual bool stopCapture(void);
+
+
+
+};
+
+
+
+
+#endif //__STEREO_CAMERA_COMMOM_HPP__
diff --git a/src/Robot/UnitreecameraSDK/include/SystemLog.hpp b/src/Robot/UnitreecameraSDK/include/SystemLog.hpp
new file mode 100644
index 0000000..3d3492e
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/include/SystemLog.hpp
@@ -0,0 +1,168 @@
+/**
+  * @file SystemLog.hpp
+  * @brief This file is part of UnitreeCameraSDK, which declare the APIs of log system.  
+  * @details The log system is used for unified management of the output information of the special system.
+  * @author ZhangChunyang
+  * @date  2021.07.31
+  * @version 1.0.1
+  * @copyright Copyright (c)2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+#ifndef __SYSTEMLOG_HPP__
+#define __SYSTEMLOG_HPP__
+
+#include <stdarg.h>
+#include <stdio.h>
+#include <string>
+
+class SystemLog
+{
+private:
+    int m_logLevel;
+    bool m_isSave;
+    std::string m_logName;
+    std::string m_logFileName;
+    
+public:
+    /**
+      * @fn SystemLog
+      * @brief SystemLog constructor
+      * @details 
+      * @param[in] logName the name of special system
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention output information starts with "logName"
+      * @code
+      * @endcode
+      */
+    SystemLog(std::string logName);
+    
+public:    
+    /**
+      * @fn setLogLevel
+      * @brief set system ouput log level 
+      * @details log level means that different kind of information will be output
+      * @param[in] level 1 running information output, 2 running and debug infomation output
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention 
+      * @code
+      * @endcode
+      */
+    void setLogLevel(int level);
+    /**
+      * @fn runTimeError
+      * @brief output running error infomation, color: red
+      * @details output format [logName][ERROR] info
+      * @param[in] format 
+      * @param[in] ...
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention use it like printf()
+      * @code
+      * @endcode
+      */
+    void runTimeError(const char *format,...);
+    /**
+      * @fn runTimeInfo
+      * @brief output running infomation, color: green
+      * @details output format [logName][INFO] info
+      * @param[in] format 
+      * @param[in] ...
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention use it like printf()
+      * @code
+      * @endcode
+      */
+    void runTimeInfo(const char *format,...);
+    /**
+      * @fn runTimeWarning
+      * @brief output running warning infomation, color: yellow
+      * @details output format [logName][WARNING] info
+      * @param[in] format 
+      * @param[in] ...
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention use it like printf()
+      * @code
+      * @endcode
+      */
+    void runTimeWarning(const char *format,...);
+    /**
+      * @fn debugTimeWarning
+      * @brief output debug warning infomation, color: cyan
+      * @details output format [logName][DEBUG_WARNING] info
+      * @param[in] format 
+      * @param[in] ...
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention use it like printf()
+      * @code
+      * @endcode
+      */
+    void debugTimeWarning(const char *format,...);
+    /**
+      * @fn debugTimeInfo
+      * @brief output debug infomation, color: white
+      * @details output format [logName][DEBUG_INFO] info
+      * @param[in] format 
+      * @param[in] ...
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention use it like printf()
+      * @code
+      * @endcode
+      */
+    void debugTimeInfo(const char *format,...);
+    /**
+      * @fn debugTimeError
+      * @brief output debug error infomation, color: magenta
+      * @details output format [logName][DEBUG_ERROR] info
+      * @param[in] format 
+      * @param[in] ...
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention use it like printf()
+      * @code
+      * @endcode
+      */
+    void debugTimeError(const char *format,...);
+    /**
+      * @fn saveLog
+      * @brief save system log to a file, default file name: Running.txt
+      * @details 
+      * @param[in] none
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention not implement at this version
+      * @code
+      * @endcode
+      */    
+    void saveLog(void);
+    /**
+      * @fn saveLogToFile
+      * @brief save system log to a designated file
+      * @details 
+      * @param[in] fileName
+      * @param[out] None
+      * @return None
+      * @note 
+      * @attention not implement at this version
+      * @code
+      * @endcode
+      */    
+    void saveLogToFile(std::string fileName) ;
+};
+
+
+#endif //__SYSTEMLOG_HPP__
diff --git a/src/Robot/UnitreecameraSDK/include/UnitreeCameraSDK.hpp b/src/Robot/UnitreecameraSDK/include/UnitreeCameraSDK.hpp
new file mode 100644
index 0000000..0d53fc7
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/include/UnitreeCameraSDK.hpp
@@ -0,0 +1,158 @@
+
+/**
+  * @file UnitreeCameraSDK.hpp
+  * @brief This file is part of UnitreeCameraSDK, which declare unitree camera APIs.  
+  * @details class UnitreeCamera inherits the APIs of class StereoCamera 
+  * image capture, image rectification, disparity computation, depth image and point cloud generation
+  * update camera firmware, flash camera parameters to camera
+  * @author ZhangChunyang
+  * @date  2021.07.31
+  * @version 1.0.1
+  * @copyright Copyright (c) 2020-2021, Hangzhou Yushu Technology Stock CO.LTD. All Rights Reserved.
+  */
+
+#ifndef __UNITREE_CAMERA_SDK_HPP__
+#define __UNITREE_CAMERA_SDK_HPP__
+
+#include "StereoCameraCommon.hpp"
+
+class UnitreeCamera : public StereoCamera
+{
+private:
+    std::string m_logName = "UnitreeCameraSDK";
+    SystemLog *m_log = nullptr;
+    
+public:
+    /**
+      * @fn UnitreeCamera
+      * @brief UnitreeCamera init unitree stereo camera object for default parameters
+      * @details default constructor
+      * @param[in] None
+      * @param[out] None
+      * @return None
+      * @note 
+      * @code
+      *     UnitreeCamera();
+      * @endcode
+      */    
+    UnitreeCamera();
+    /**
+      * @overload
+      * @fn UnitreeCamera
+      * @brief UnitreeCamera constructor overload
+      * @details use camera config file to init unitree stereo camera
+      * @param[in] fileName camera config file, include file path, for example: ~/test/stereoConfig.yaml
+      * @param[out] None
+      * @return None
+      * @note 
+      * @code
+      *     UnitreeCamera("path_to/config.yaml");
+      * @endcode
+      */
+    UnitreeCamera(std::string fileName);
+    /**
+      * @overload
+      * @fn UnitreeCamera 
+      * @brief UnitreeCamera constructor overload
+      * @details use camera device node number to init unitree stereo camera
+      * @param[in] deviceNode camera device node, for example: /dev/video0, camera device node: 0
+      * @param[out] None
+      * @return None
+      * @note 
+      * @code
+      *     StereoCamera(0); // for /dev/video0
+      * @endcode
+      */
+    UnitreeCamera(int deviceNode);
+    /**
+      * @fn ~UnitreeCamera 
+      * @brief UnitreeCamera destructor
+      * @details release all unitree stereo camera resource
+      * @param[in] None
+      * @param[out] None
+      * @return None
+      * @note  automatically called when UnitreeCamera object released
+      */
+    ~UnitreeCamera(void);
+
+public:
+    /**
+      * @fn updateCalibParams2Flash 
+      * @brief update camera calibrate parameters  
+      * @details 
+      * @param[in] fileName calibration parameters file 
+      * @param[out] None
+      * @return None
+      * @note 
+      * @code
+      * @endcode
+      */
+    bool updateCalibParams2Flash(std::string fileName);
+    /**
+      * @fn checkFirmwareVersion 
+      * @brief check camera's firmware version
+      * @details 
+      * @param[in] version firmware version
+      * @param[out] None
+      * @return None
+      * @note 
+      * @code
+      * @endcode
+      */
+    bool checkFirmwareVersion(std::string &version);
+    /**
+      * @fn updateFirmware 
+      * @brief update camera's firmware
+      * @details 
+      * @param[in] fileName firmware file
+      * @param[out] None
+      * @return None
+      * @note 
+      * @code
+      * @endcode
+      */
+    bool updateFirmware(std::string fileName);
+
+private:
+    /**
+      * @fn loadInternalCalibParams 
+      * @brief 
+      * @details 
+      * @param[in] None
+      * @param[out] None
+      * @return None
+      * @note 
+      * @code
+      * @endcode
+      */
+    bool loadInternalCalibParams(void);
+};
+
+/**
+  * @fn getRotationMatrix 
+  * @brief Obtain transformation matrix that can express the rotation of an Euler angle of the coordinate system around a coordinate axis 
+  * @details 
+  * @param[in] axis frame axis name, default 'x'
+  * @param[in] theta Euler angle
+  * @param[out] None
+  * @return 3x3 rotation matrix 
+  * @note 
+  * @code
+  * @endcode
+  */
+cv::Mat getRotationMatrix(int axis = 'x', float theta = 0.0);
+/**
+  * @fn getTranslationMatrix 
+  * @brief transformation matrix that can express the moving coordinate system relative to the base coordinate system 
+  * @details 
+  * @param[in] axis frame axis name, default 'x'
+  * @param[in] theta Euler angle
+  * @param[out] None
+  * @return 3x3 rotation matrix 
+  * @note 
+  * @code
+  * @endcode
+  */
+cv::Mat getTranslationMatrix(int axis = 'x', float theta = 0.0, cv::Mat vec = cv::Mat());
+
+#endif
diff --git a/src/Robot/UnitreecameraSDK/lib/amd64/libsystemlog.a b/src/Robot/UnitreecameraSDK/lib/amd64/libsystemlog.a
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diff --git a/src/Robot/UnitreecameraSDK/lib/amd64/libtstc_V4L2_xu_camera.a b/src/Robot/UnitreecameraSDK/lib/amd64/libtstc_V4L2_xu_camera.a
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diff --git a/src/Robot/UnitreecameraSDK/lib/amd64/libunitree_camera.a b/src/Robot/UnitreecameraSDK/lib/amd64/libunitree_camera.a
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diff --git a/src/Robot/UnitreecameraSDK/lib/arm64/libsystemlog.a b/src/Robot/UnitreecameraSDK/lib/arm64/libsystemlog.a
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diff --git a/src/Robot/UnitreecameraSDK/lib/arm64/libtstc_V4L2_xu_camera.a b/src/Robot/UnitreecameraSDK/lib/arm64/libtstc_V4L2_xu_camera.a
new file mode 100644
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diff --git a/src/Robot/UnitreecameraSDK/lib/arm64/libunitree_camera.a b/src/Robot/UnitreecameraSDK/lib/arm64/libunitree_camera.a
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diff --git a/src/Robot/UnitreecameraSDK/stereo_camera_config.yaml b/src/Robot/UnitreecameraSDK/stereo_camera_config.yaml
new file mode 100644
index 0000000..b5c70d7
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/stereo_camera_config.yaml
@@ -0,0 +1,78 @@
+%YAML:1.0
+---
+# unimportant
+LogLevel: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 1. ]
+# unimportant
+Threshold: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 190. ]
+# unimportant. It is recommended not to change
+Algorithm: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [1. ]
+#UDP address for image transfer   192.168.123.IpLastSegment
+IpLastSegment: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 15. ]
+#DeviceNode
+DeviceNode: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 0. ]
+#fov (perspective 60~140) 
+hFov: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 90. ]
+#image size ([1856.,800.] or [928.,400.])
+FrameSize: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: d
+   data: [928.,400.] 
+#   [232.,200.] [464.,400.] [928.,800.] 
+RectifyFrameSize: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: d
+   data: [464.,400.] 
+#FrameRate
+FrameRate: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 3e+01 ]
+#0 ori img - right  1 ori img - stereo  2 rect img - right  3 rect img - stereo   -1 不传图
+Transmode: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ -1. ] 
+#Transmission rate
+Transrate: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 3e+01 ] 
+# unimportant
+Depthmode: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 1. ] 
+Reserved: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
\ No newline at end of file
diff --git a/src/Robot/UnitreecameraSDK/trans_rect_config.yaml b/src/Robot/UnitreecameraSDK/trans_rect_config.yaml
new file mode 100644
index 0000000..5ee2b5f
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/trans_rect_config.yaml
@@ -0,0 +1,85 @@
+%YAML:1.0
+---
+# [pls dont change] The log level 
+LogLevel: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 1. ]
+# [pls dont change] The threshold is applied to detecd point cloud
+Threshold: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 190. ]
+#[pls dont change] it's a switch for a algorithm in the process of computing stereo disparity 
+Algorithm: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [1. ]
+#UDP address for image transfer   192.168.123.IpLastSegment
+IpLastSegment: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 15. ]
+#这个地方要改成实际的接收IP
+#########################################
+#DeviceNode
+DeviceNode: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 1. ]
+#设备号要改成需要的，可以参考上文
+#########################################
+#fov (perspective 60~140) 
+hFov: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 90. ]
+#image size ([1856,800] or [928,400])
+FrameSize: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: d
+   data: [ 1856., 800. ]
+#rectified frame size
+RectifyFrameSize: !!opencv-matrix
+   rows: 1
+   cols: 2
+   dt: d
+   data: [ 928., 800. ]
+#FrameRate, it gives the limitation for transmission rate(FPS)
+FrameRate: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 3e+01 ]
+#0 ori img - right  1 ori img - stereo  2 rect img - right  3 rect img - stereo   -1 不传图
+Transmode: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 2. ] 
+#这里的transmode，0和1不能用，要设置2或者3
+#########################################
+#Transmission rate(FPS) in the UDP transmitting process. <= FrameRate
+Transrate: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 3e+01 ] 
+# [pls dont change]  It's a switch in distortion process of fisheye camera. 1 represents “Longitude and latitude expansion of fisheye camera”;  2 represnets "Perspective distortion correction".
+Depthmode: !!opencv-matrix
+   rows: 1
+   cols: 1
+   dt: d
+   data: [ 1. ] 
+ # empty reserved IO
+Reserved: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
diff --git a/src/Robot/UnitreecameraSDK/version.txt b/src/Robot/UnitreecameraSDK/version.txt
new file mode 100644
index 0000000..992977a
--- /dev/null
+++ b/src/Robot/UnitreecameraSDK/version.txt
@@ -0,0 +1 @@
+v1.1.0
\ No newline at end of file
diff --git a/src/Robot/unitree_legged_go1-walk/.gitignore b/src/Robot/unitree_legged_go1-walk/.gitignore
new file mode 100644
index 0000000..4c96765
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/.gitignore
@@ -0,0 +1,5 @@
+build
+
+*.o
+.vscode
+.clang-format
\ No newline at end of file
diff --git a/src/Robot/unitree_legged_go1-walk/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/CMakeLists.txt
new file mode 100644
index 0000000..87ff0fa
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/CMakeLists.txt
@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(unitree_legged_sdk)
+
+# check arch and os
+message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}")
+if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
+  set(ARCH amd64)
+endif()
+if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "aarch64.*")
+  set(ARCH arm64)
+endif()
+
+include_directories(include)
+link_directories(lib/cpp/${ARCH})
+
+option(PYTHON_BUILD "build python wrapper" OFF)
+if(PYTHON_BUILD)
+  add_subdirectory(python_wrapper)
+endif()
+
+set(EXTRA_LIBS -pthread libunitree_legged_sdk.a)
+set(CMAKE_CXX_FLAGS "-O3 -fPIC")
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(catkin QUIET)
+if(${catkin_FOUND})
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_SOURCE_DIR}/lib/cpp/${ARCH}/libunitree_legged_sdk.a
+  )
+endif()
+
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
+
+# one pc one process
+add_executable(example_position example/example_position.cpp)
+target_link_libraries(example_position ${EXTRA_LIBS})
+
+add_executable(example_velocity example/example_velocity.cpp)
+target_link_libraries(example_velocity ${EXTRA_LIBS})
+
+add_executable(example_torque example/example_torque.cpp)
+target_link_libraries(example_torque ${EXTRA_LIBS})
+
+add_executable(example_walk example/example_walk.cpp)
+target_link_libraries(example_walk ${EXTRA_LIBS})
+
+add_executable(example_joystick example/example_joystick.cpp)
+target_link_libraries(example_joystick ${EXTRA_LIBS})
+
+
+# install
+install(TARGETS
+  example_position example_velocity example_torque example_walk example_joystick
+  DESTINATION bin/unitree)
+install(DIRECTORY lib/cpp/${ARCH}/
+  DESTINATION lib/unitree
+  USE_SOURCE_PERMISSIONS)
diff --git a/src/Robot/unitree_legged_go1-walk/LICENSE b/src/Robot/unitree_legged_go1-walk/LICENSE
new file mode 100644
index 0000000..e472bbd
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2016-2022 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/src/Robot/unitree_legged_go1-walk/README.md b/src/Robot/unitree_legged_go1-walk/README.md
new file mode 100644
index 0000000..cec07f8
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/README.md
@@ -0,0 +1,53 @@
+# v3.8.6
+The unitree_legged_sdk is mainly used for communication between PC and Controller board.
+It also can be used in other PCs with UDP.
+
+### Notice
+support robot: Go1
+
+not support robot: Laikago, B1, Aliengo, A1. (Check release [v3.3.1](https://github.com/unitreerobotics/unitree_legged_sdk/releases/tag/v3.3.1) for support)
+
+### Dependencies
+* [Unitree](https://www.unitree.com/download)
+```bash
+Legged_sport    >= v1.36.0
+firmware H0.1.7 >= v0.1.35
+         H0.1.9 >= v0.1.35
+```
+* [Boost](http://www.boost.org) (version 1.5.4 or higher)
+* [CMake](http://www.cmake.org) (version 2.8.3 or higher)
+* [g++](https://gcc.gnu.org/) (version 8.3.0 or higher)
+
+
+### Build
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+If you want to build the python wrapper, then replace the cmake line with:
+```bash
+cmake -DPYTHON_BUILD=TRUE ..
+```
+
+If can not find pybind11 headers, then add
+```bash
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/third-party/pybind11/include)
+```
+at line 14 in python_wrapper/CMakeLists.txt.
+
+If can not find msgpack.hpp, then
+```bash
+sudo apt install libmsgpack*
+```
+
+### Run
+
+#### Cpp
+Run examples with 'sudo' for memory locking.
+
+#### Python
+##### arm
+change `sys.path.append('../lib/python/amd64')` to `sys.path.append('../lib/python/arm64')`
diff --git a/src/Robot/unitree_legged_go1-walk/example/example_joystick.cpp b/src/Robot/unitree_legged_go1-walk/example/example_joystick.cpp
new file mode 100644
index 0000000..adbbbcf
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example/example_joystick.cpp
@@ -0,0 +1,82 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#include "unitree_legged_sdk/unitree_legged_sdk.h"
+#include "unitree_legged_sdk/joystick.h"
+#include <math.h>
+#include <iostream>
+#include <unistd.h>
+
+using namespace UNITREE_LEGGED_SDK;
+
+class Custom
+{
+public:
+  Custom(uint8_t level) : safe(LeggedType::Go1),
+                          udp(level, 8090, "192.168.123.10", 8007)
+  {
+    udp.InitCmdData(cmd);
+  }
+  void UDPSend();
+  void UDPRecv();
+  void RobotControl();
+
+  Safety safe;
+  UDP udp;
+  LowCmd cmd = {0};
+  LowState state = {0};
+  xRockerBtnDataStruct _keyData;
+  int motiontime = 0;
+  float dt = 0.002; // 0.001~0.01
+};
+
+void Custom::UDPRecv()
+{
+  udp.Recv();
+}
+
+void Custom::UDPSend()
+{
+  udp.Send();
+}
+
+void Custom::RobotControl()
+{
+  motiontime++;
+  udp.GetRecv(state);
+
+  memcpy(&_keyData, &state.wirelessRemote[0], 40);
+
+  if ((int)_keyData.btn.components.A == 1)
+  {
+    std::cout << "The key A is pressed, and the value of lx is " << _keyData.lx << std::endl;
+  }
+
+  safe.PowerProtect(cmd, state, 1);
+  udp.SetSend(cmd);
+}
+
+int main(void)
+{
+  std::cout << "Communication level is set to LOW-level." << std::endl
+            << "WARNING: Make sure the robot is hung up." << std::endl
+            << "Press Enter to continue..." << std::endl;
+  std::cin.ignore();
+
+  Custom custom(LOWLEVEL);
+  LoopFunc loop_control("control_loop", custom.dt, boost::bind(&Custom::RobotControl, &custom));
+  LoopFunc loop_udpSend("udp_send", custom.dt, 3, boost::bind(&Custom::UDPSend, &custom));
+  LoopFunc loop_udpRecv("udp_recv", custom.dt, 3, boost::bind(&Custom::UDPRecv, &custom));
+
+  loop_udpSend.start();
+  loop_udpRecv.start();
+  loop_control.start();
+
+  while (1)
+  {
+    sleep(10);
+  };
+
+  return 0;
+}
diff --git a/src/Robot/unitree_legged_go1-walk/example/example_position.cpp b/src/Robot/unitree_legged_go1-walk/example/example_position.cpp
new file mode 100644
index 0000000..900d2b0
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example/example_position.cpp
@@ -0,0 +1,169 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#include "unitree_legged_sdk/unitree_legged_sdk.h"
+#include <math.h>
+#include <iostream>
+#include <stdio.h>
+#include <stdint.h>
+
+using namespace std;
+using namespace UNITREE_LEGGED_SDK;
+
+class Custom
+{
+public:
+  Custom(uint8_t level) : safe(LeggedType::Go1),
+                          udp(level, 8090, "192.168.123.10", 8007)
+  {
+    udp.InitCmdData(cmd);
+  }
+  void UDPRecv();
+  void UDPSend();
+  void RobotControl();
+
+  Safety safe;
+  UDP udp;
+  LowCmd cmd = {0};
+  LowState state = {0};
+  float qInit[3] = {0};
+  float qDes[3] = {0};
+  float sin_mid_q[3] = {0.0, 1.2, -2.0};
+  float Kp[3] = {0};
+  float Kd[3] = {0};
+  double time_consume = 0;
+  int rate_count = 0;
+  int sin_count = 0;
+  int motiontime = 0;
+  float dt = 0.002; // 0.001~0.01
+};
+
+void Custom::UDPRecv()
+{
+  udp.Recv();
+}
+
+void Custom::UDPSend()
+{
+  udp.Send();
+}
+
+double jointLinearInterpolation(double initPos, double targetPos, double rate)
+{
+  double p;
+  rate = std::min(std::max(rate, 0.0), 1.0);
+  p = initPos * (1 - rate) + targetPos * rate;
+  return p;
+}
+
+void Custom::RobotControl()
+{
+  motiontime++;
+  udp.GetRecv(state);
+  printf("%d  %f  %f\n", motiontime, state.motorState[FR_1].q, state.motorState[FR_1].dq);
+
+  // gravity compensation
+  cmd.motorCmd[FR_0].tau = -0.65f;
+  cmd.motorCmd[FL_0].tau = +0.65f;
+  cmd.motorCmd[RR_0].tau = -0.65f;
+  cmd.motorCmd[RL_0].tau = +0.65f;
+
+  // if( motiontime >= 100){
+  if (motiontime >= 0)
+  {
+    // first, get record initial position
+    // if( motiontime >= 100 && motiontime < 500){
+    if (motiontime >= 0 && motiontime < 10)
+    {
+      qInit[0] = state.motorState[FR_0].q;
+      qInit[1] = state.motorState[FR_1].q;
+      qInit[2] = state.motorState[FR_2].q;
+    }
+    // second, move to the origin point of a sine movement with Kp Kd
+    // if( motiontime >= 500 && motiontime < 1500){
+    if (motiontime >= 10 && motiontime < 400)
+    {
+      rate_count++;
+      double rate = rate_count / 200.0; // needs count to 200
+      Kp[0] = 5.0;
+      Kp[1] = 5.0;
+      Kp[2] = 5.0;
+      Kd[0] = 1.0;
+      Kd[1] = 1.0;
+      Kd[2] = 1.0;
+      // Kp[0] = 20.0; Kp[1] = 20.0; Kp[2] = 20.0;
+      // Kd[0] = 2.0; Kd[1] = 2.0; Kd[2] = 2.0;
+
+      qDes[0] = jointLinearInterpolation(qInit[0], sin_mid_q[0], rate);
+      qDes[1] = jointLinearInterpolation(qInit[1], sin_mid_q[1], rate);
+      qDes[2] = jointLinearInterpolation(qInit[2], sin_mid_q[2], rate);
+    }
+    double sin_joint1, sin_joint2;
+    if (motiontime >= 400)
+    {
+      sin_count++;
+      sin_joint1 = 0.6 * sin(3 * M_PI * sin_count / 1000.0);
+      sin_joint2 = -0.6 * sin(1.8 * M_PI * sin_count / 1000.0);
+      qDes[0] = sin_mid_q[0];
+      qDes[1] = sin_mid_q[1];
+      qDes[2] = sin_mid_q[2] + sin_joint2;
+    }
+
+    cmd.motorCmd[FR_0].q = qDes[0];
+    cmd.motorCmd[FR_0].dq = 0;
+    cmd.motorCmd[FR_0].Kp = Kp[0];
+    cmd.motorCmd[FR_0].Kd = Kd[0];
+    cmd.motorCmd[FR_0].tau = -0.65f;
+
+    cmd.motorCmd[FR_1].q = qDes[1];
+    cmd.motorCmd[FR_1].dq = 0;
+    cmd.motorCmd[FR_1].Kp = Kp[1];
+    cmd.motorCmd[FR_1].Kd = Kd[1];
+    cmd.motorCmd[FR_1].tau = 0.0f;
+
+    cmd.motorCmd[FR_2].q = qDes[2];
+    cmd.motorCmd[FR_2].dq = 0;
+    cmd.motorCmd[FR_2].Kp = Kp[2];
+    cmd.motorCmd[FR_2].Kd = Kd[2];
+    cmd.motorCmd[FR_2].tau = 0.0f;
+  }
+
+  if (motiontime > 10)
+  {
+    safe.PositionLimit(cmd);
+    int res1 = safe.PowerProtect(cmd, state, 1);
+    // You can uncomment it for position protection
+    // int res2 = safe.PositionProtect(cmd, state, 10);
+    if (res1 < 0)
+      exit(-1);
+  }
+
+  udp.SetSend(cmd);
+}
+
+int main(void)
+{
+  std::cout << "Communication level is set to LOW-level." << std::endl
+            << "WARNING: Make sure the robot is hung up." << std::endl
+            << "NOTE: The robot also needs to be set to LOW-level mode, otherwise it will make strange noises and this example will not run successfully! " << std::endl
+            << "Press Enter to continue..." << std::endl;
+  std::cin.ignore();
+
+  Custom custom(LOWLEVEL);
+  // InitEnvironment();
+  LoopFunc loop_control("control_loop", custom.dt, boost::bind(&Custom::RobotControl, &custom));
+  LoopFunc loop_udpSend("udp_send", custom.dt, 3, boost::bind(&Custom::UDPSend, &custom));
+  LoopFunc loop_udpRecv("udp_recv", custom.dt, 3, boost::bind(&Custom::UDPRecv, &custom));
+
+  loop_udpSend.start();
+  loop_udpRecv.start();
+  loop_control.start();
+
+  while (1)
+  {
+    sleep(10);
+  };
+
+  return 0;
+}
diff --git a/src/Robot/unitree_legged_go1-walk/example/example_torque.cpp b/src/Robot/unitree_legged_go1-walk/example/example_torque.cpp
new file mode 100644
index 0000000..587c8d3
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example/example_torque.cpp
@@ -0,0 +1,96 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#include "unitree_legged_sdk/unitree_legged_sdk.h"
+#include <math.h>
+#include <iostream>
+#include <unistd.h>
+
+using namespace UNITREE_LEGGED_SDK;
+
+class Custom
+{
+public:
+  Custom(uint8_t level) : safe(LeggedType::Go1),
+                          udp(level, 8090, "192.168.123.10", 8007)
+  {
+    udp.InitCmdData(cmd);
+  }
+  void UDPSend();
+  void UDPRecv();
+  void RobotControl();
+
+  Safety safe;
+  UDP udp;
+  LowCmd cmd = {0};
+  LowState state = {0};
+  int motiontime = 0;
+  float dt = 0.002; // 0.001~0.01
+};
+
+void Custom::UDPRecv()
+{
+  udp.Recv();
+}
+
+void Custom::UDPSend()
+{
+  udp.Send();
+}
+
+void Custom::RobotControl()
+{
+  motiontime++;
+  udp.GetRecv(state);
+  // gravity compensation
+  cmd.motorCmd[FR_0].tau = -0.65f;
+  cmd.motorCmd[FL_0].tau = +0.65f;
+  cmd.motorCmd[RR_0].tau = -0.65f;
+  cmd.motorCmd[RL_0].tau = +0.65f;
+
+  if (motiontime >= 500)
+  {
+    float torque = (0 - state.motorState[FR_1].q) * 10.0f + (0 - state.motorState[FR_1].dq) * 1.0f;
+    if (torque > 5.0f)
+      torque = 5.0f;
+    if (torque < -5.0f)
+      torque = -5.0f;
+
+    cmd.motorCmd[FR_1].q = PosStopF;
+    cmd.motorCmd[FR_1].dq = VelStopF;
+    cmd.motorCmd[FR_1].Kp = 0;
+    cmd.motorCmd[FR_1].Kd = 0;
+    cmd.motorCmd[FR_1].tau = torque;
+  }
+  int res = safe.PowerProtect(cmd, state, 1);
+  if (res < 0)
+    exit(-1);
+
+  udp.SetSend(cmd);
+}
+
+int main(void)
+{
+  std::cout << "Communication level is set to LOW-level." << std::endl
+            << "WARNING: Make sure the robot is hung up." << std::endl
+            << "NOTE: The robot also needs to be set to LOW-level mode, otherwise it will make strange noises and this example will not run successfully! " << std::endl
+            << "Press Enter to continue..." << std::endl;
+  std::cin.ignore();
+
+  Custom custom(LOWLEVEL);
+  LoopFunc loop_control("control_loop", custom.dt, boost::bind(&Custom::RobotControl, &custom));
+  LoopFunc loop_udpSend("udp_send", custom.dt, 3, boost::bind(&Custom::UDPSend, &custom));
+  LoopFunc loop_udpRecv("udp_recv", custom.dt, 3, boost::bind(&Custom::UDPRecv, &custom));
+
+  loop_udpSend.start();
+  loop_udpRecv.start();
+  loop_control.start();
+
+  while (1)
+  {
+    sleep(10);
+  };
+
+  return 0;
+}
diff --git a/src/Robot/unitree_legged_go1-walk/example/example_velocity.cpp b/src/Robot/unitree_legged_go1-walk/example/example_velocity.cpp
new file mode 100644
index 0000000..d0802b5
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example/example_velocity.cpp
@@ -0,0 +1,100 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#include "unitree_legged_sdk/unitree_legged_sdk.h"
+#include <math.h>
+#include <iostream>
+
+using namespace UNITREE_LEGGED_SDK;
+
+class Custom
+{
+public:
+  Custom(uint8_t level) : safe(LeggedType::Go1),
+                          udp(level, 8090, "192.168.123.10", 8007)
+  {
+    udp.InitCmdData(cmd);
+  }
+  void UDPRecv();
+  void UDPSend();
+  void RobotControl();
+
+  Safety safe;
+  UDP udp;
+  LowCmd cmd = {0};
+  LowState state = {0};
+  int Tpi = 0;
+  int motiontime = 0;
+  float dt = 0.002; // 0.001~0.01
+};
+
+void Custom::UDPRecv()
+{
+  udp.Recv();
+}
+
+void Custom::UDPSend()
+{
+  udp.Send();
+}
+
+void Custom::RobotControl()
+{
+  motiontime++;
+  udp.GetRecv(state);
+
+  // gravity compensation
+  cmd.motorCmd[FR_0].tau = -0.65f;
+  cmd.motorCmd[FL_0].tau = +0.65f;
+  cmd.motorCmd[RR_0].tau = -0.65f;
+  cmd.motorCmd[RL_0].tau = +0.65f;
+
+  if (motiontime >= 500)
+  {
+    float speed = 2 * sin(3 * M_PI * Tpi / 1500.0);
+
+    cmd.motorCmd[FR_1].q = PosStopF;
+    cmd.motorCmd[FR_1].dq = speed;
+    cmd.motorCmd[FR_1].Kp = 0;
+    cmd.motorCmd[FR_1].Kd = 4;
+    cmd.motorCmd[FR_1].tau = 0.0f;
+    Tpi++;
+  }
+
+  if (motiontime > 10)
+  {
+    int res1 = safe.PowerProtect(cmd, state, 1);
+    // You can uncomment it for position protection
+    // int res2 = safe.PositionProtect(cmd, state, 10);
+    if (res1 < 0)
+      exit(-1);
+  }
+
+  udp.SetSend(cmd);
+}
+
+int main(void)
+{
+  std::cout << "Communication level is set to LOW-level." << std::endl
+            << "WARNING: Make sure the robot is hung up." << std::endl
+            << "NOTE: The robot also needs to be set to LOW-level mode, otherwise it will make strange noises and this example will not run successfully! " << std::endl
+            << "Press Enter to continue..." << std::endl;
+  std::cin.ignore();
+
+  Custom custom(LOWLEVEL);
+  LoopFunc loop_control("control_loop", custom.dt, boost::bind(&Custom::RobotControl, &custom));
+  LoopFunc loop_udpSend("udp_send", custom.dt, 3, boost::bind(&Custom::UDPSend, &custom));
+  LoopFunc loop_udpRecv("udp_recv", custom.dt, 3, boost::bind(&Custom::UDPRecv, &custom));
+
+  loop_udpSend.start();
+  loop_udpRecv.start();
+  loop_control.start();
+
+  while (1)
+  {
+    sleep(10);
+  };
+
+  return 0;
+}
diff --git a/src/Robot/unitree_legged_go1-walk/example/example_walk.cpp b/src/Robot/unitree_legged_go1-walk/example/example_walk.cpp
new file mode 100644
index 0000000..22ae448
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example/example_walk.cpp
@@ -0,0 +1,225 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#include "unitree_legged_sdk/unitree_legged_sdk.h"
+#include <math.h>
+#include <iostream>
+#include <unistd.h>
+#include <string.h>
+#include <iostream>
+
+using namespace UNITREE_LEGGED_SDK;
+
+#define B printf("HERE\n");
+#define For(i,a,b) for(int i=a;i<=b;++i)
+#define O(x) cout << #x << ": " << x << endl;
+#define O_(x) cout << #x << ": " << x << " ";
+#define Rof(i,b,a) for(int i=b;i>=a;--i)
+#define ef else if
+class Custom
+{
+public:
+  Custom(uint8_t level) : safe(LeggedType::Go1),
+                          udp(level, 8090, "192.168.12.1", 8082)
+  {
+    udp.InitCmdData(cmd);
+  }
+  void UDPRecv();
+  void UDPSend();
+  void RobotControl();
+
+  Safety safe;
+  UDP udp;
+  HighCmd cmd = {0};
+  HighState state = {0};
+  int motiontime = 0,tim=0xfffff;
+  float dt = 0.002; // 0.001~0.01
+
+  bool vis = 0;
+  float aim_x = 0,aim_y = 0,position[3] = {},front_x = 0,front_y = 0,behind_x = 0,behind_y = 0,now_direction_x = 0,now_direction_y = 0,aim_direction_x = 0,aim_direction_y = 0;
+};
+
+void Custom::UDPRecv()
+{
+  udp.Recv();
+}
+
+void Custom::UDPSend()
+{
+  udp.Send();
+}
+void Custom::RobotControl()
+{
+  motiontime += 2;
+  udp.GetRecv(state);
+  //   printf("%d   %f\n", motiontime, state.imu.quaternion[2]);
+  Cartesian leg[5];//1:front_left  2:front_right  3:behind_left  4:behind_right
+  leg[1] = state.footPosition2Body[0],leg[2] = state.footPosition2Body[1],leg[3] = state.footPosition2Body[2],leg[4] = state.footPosition2Body[3];
+  //printf("%f %f %f\n",state.position[0],state.position[1],state.position[2]);
+  //printf("%f %f\n",aim_x,aim_y);
+  //printf("%f %f %f %f\n",leg[1].x,leg[1].y,leg[1].z,leg[2].y);
+  //printf("%f %f %f %f\n\n",leg[3].x,leg[3].y,leg[3].z,leg[4].y);
+  cmd.mode = 0; // 0:idle, default stand      1:forced stand     2:walk continuously
+  //printf("%f %f %f\n",state.rangeObstacle[0],state.rangeObstacle[1],state.rangeObstacle[2],state.rangeObstacle[3]);
+  cmd.gaitType = 0;
+  cmd.speedLevel = 0;
+  cmd.footRaiseHeight = 0;
+  cmd.bodyHeight = 0;
+  cmd.euler[0] = 0;
+  cmd.euler[1] = 0;
+  cmd.euler[2] = 0;
+  cmd.velocity[0] = 0.0f;
+  cmd.velocity[1] = 0.0f;
+  cmd.yawSpeed = 0.0f;
+  cmd.reserve = 0;
+  position[3];
+  position[0] = state.position[0],position[1] = state.position[1];
+  front_x = (leg[1].x+leg[2].x)/2,front_y = (leg[1].y+leg[2].y)/2;
+  behind_x = (leg[3].x+leg[4].x)/2,behind_y = (leg[3].y+leg[4].y)/2;//O_(front_x)O(front_y)O_(behind_x)O(behind_y)
+  now_direction_x = (front_x-behind_x) / sqrt((front_x-behind_x)*(front_x-behind_x) + (front_y-behind_y)*(front_y-behind_y));
+  now_direction_y = (front_y-behind_y) / sqrt((front_x-behind_x)*(front_x-behind_x) + (front_y-behind_y)*(front_y-behind_y));
+  aim_direction_x = (aim_x - position[0]) / sqrt((aim_x-position[0])*(aim_x-position[0]) + (aim_y-position[1])*(aim_y-position[1]));
+  aim_direction_y = (aim_y - position[1]) / sqrt((aim_x-position[0])*(aim_x-position[0]) + (aim_y-position[1])*(aim_y-position[1]));//O_(aim_x)O(aim_y)
+  //O_(state.imu.rpy[0])O_(state.imu.rpy[1])O(state.imu.rpy[2])
+O(state.rangeObstacle[0])
+  if(tim == 0xfffff && state.rangeObstacle[0]<0.30 && state.rangeObstacle[0] != 0 && motiontime > 5000){O(motiontime)
+  tim = motiontime;
+}
+if(!vis){
+vis = 1;
+}
+  ef(motiontime<50){
+cmd.mode = 2;
+}
+  ef(motiontime>=500 && motiontime < 1000){
+cmd.mode = 1;
+}
+  ef(motiontime>=1000 && motiontime < 1500){
+cmd.mode = 6;
+}
+  ef(motiontime>=1500 && motiontime < 2000){
+cmd.mode = 5;
+}
+  ef(motiontime>=2000 && motiontime < 2500){
+cmd.mode = 7;
+}
+  ef(motiontime>=2000 && motiontime < 2500){
+cmd.mode = 7;
+}
+  ef(motiontime>=2500 && motiontime < 3000){
+cmd.mode = 5;
+}
+  ef(motiontime>=4000 && motiontime < tim){
+        cmd.mode = 2;
+        cmd.gaitType = 1;
+        cmd.velocity[0] = 0.6f;
+        cmd.bodyHeight = 0.1;
+}
+ef(motiontime>=tim){
+ cmd.mode = 0;
+}
+  ef(motiontime>=tim && motiontime < tim+2000){
+
+        cmd.mode = 2;
+        cmd.gaitType = 2;
+        cmd.velocity[0] = 0.1f;
+        cmd.yawSpeed = -1;
+        cmd.footRaiseHeight = 0.1;
+}
+  ef(motiontime>=tim+2000 && motiontime < tim+5500){
+        cmd.mode = 2;
+        cmd.gaitType = 1;
+        cmd.velocity[0] = 0.3f;
+        cmd.bodyHeight = 0.1;
+}
+  ef(motiontime>=tim+5500 && motiontime < tim+8000){
+
+        cmd.mode = 2;
+        cmd.gaitType = 2;
+        cmd.velocity[0] = 0.1f;
+        cmd.yawSpeed = 0.85;
+        cmd.footRaiseHeight = 0.1;
+}
+  ef(motiontime>=tim+8000 && motiontime < tim+11000){
+        cmd.mode = 2;
+        cmd.gaitType = 1;
+        cmd.velocity[0] = 0.8f;
+        cmd.bodyHeight = 0.1;
+}
+  ef(motiontime>=tim+11000 && motiontime < tim+11500){
+cmd.mode = 2;
+}
+  ef(motiontime>=tim+11500 && motiontime < tim+12000){
+cmd.mode = 1;
+}
+  ef(motiontime>=tim+12000 && motiontime < tim+12500){
+cmd.mode = 6;
+}
+  ef(motiontime>=tim+12500 && motiontime < tim+13000){
+cmd.mode = 5;
+}
+  ef(motiontime>=tim+13000 && motiontime < tim+13500){
+cmd.mode = 7;
+}
+  ef(motiontime>=tim + 13500){
+cmd.mode = 0;
+}
+/*
+  if(!vis){
+    vis = 1;
+    scanf("%f %f",&aim_x,&aim_y);//B O_(aim_x)O(aim_y)
+  }
+  else{
+    //O_(position[0])O(position[1])
+    //O_(aim_x)O(aim_y)
+    if((position[0]-aim_x)*(position[0]-aim_x)+(position[1]-aim_y)*(position[1]-aim_y)<1){
+      cmd.mode = 0;
+      udp.SetSend(cmd);
+      scanf("%f %f",&aim_x,&aim_y);
+      vis = 0;
+    }
+    else{
+      if(now_direction_x*aim_direction_x+aim_direction_y*now_direction_y > 0.2){
+        //O_(now_direction_x)O(now_direction_y)O_(aim_direction_x)O(aim_direction_y)B
+        cmd.mode = 2;
+        cmd.gaitType = 2;
+        cmd.velocity[0] = 0.1f;
+        cmd.yawSpeed = 0.2;
+        cmd.footRaiseHeight = 0.1;
+      }
+      else{
+        cmd.mode = 2;
+        cmd.gaitType = 1;
+        cmd.velocity[0] = -0.3f;
+        cmd.bodyHeight = 0.1;
+      }
+    }
+  }
+*/
+  udp.SetSend(cmd);
+}
+
+int main(void)
+{
+  std::cout << "Communication level is set to HIGH-level." << std::endl
+            << "WARNING: Make sure the robot is standing on the ground." << std::endl
+            << "Press Enter to continue..." << std::endl;
+  std::cin.ignore();
+
+  Custom custom(HIGHLEVEL);
+  LoopFunc loop_control("control_loop", custom.dt, boost::bind(&Custom::RobotControl, &custom));
+  LoopFunc loop_udpSend("udp_send", custom.dt, 3, boost::bind(&Custom::UDPSend, &custom));
+  LoopFunc loop_udpRecv("udp_recv", custom.dt, 3, boost::bind(&Custom::UDPRecv, &custom));
+
+  loop_udpSend.start();
+  loop_udpRecv.start();
+  loop_control.start();
+
+  while (1)
+  {
+    sleep(10);
+  };
+
+  return 0;
+}
diff --git a/src/Robot/unitree_legged_go1-walk/example_py/example_position.py b/src/Robot/unitree_legged_go1-walk/example_py/example_position.py
new file mode 100644
index 0000000..ddd2dd4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example_py/example_position.py
@@ -0,0 +1,118 @@
+#!/usr/bin/python
+
+import sys
+import time
+import math
+import numpy as np
+
+sys.path.append('../lib/python/amd64')
+import robot_interface as sdk
+
+def jointLinearInterpolation(initPos, targetPos, rate):
+
+    rate = np.fmin(np.fmax(rate, 0.0), 1.0)
+    p = initPos*(1-rate) + targetPos*rate
+    return p
+
+
+if __name__ == '__main__':
+
+    d = {'FR_0':0, 'FR_1':1, 'FR_2':2,
+         'FL_0':3, 'FL_1':4, 'FL_2':5, 
+         'RR_0':6, 'RR_1':7, 'RR_2':8, 
+         'RL_0':9, 'RL_1':10, 'RL_2':11 }
+    PosStopF  = math.pow(10,9)
+    VelStopF  = 16000.0
+    HIGHLEVEL = 0xee
+    LOWLEVEL  = 0xff
+    sin_mid_q = [0.0, 1.2, -2.0]
+    dt = 0.002
+    qInit = [0, 0, 0]
+    qDes = [0, 0, 0]
+    sin_count = 0
+    rate_count = 0
+    Kp = [0, 0, 0]
+    Kd = [0, 0, 0]
+
+    udp = sdk.UDP(LOWLEVEL, 8080, "192.168.123.10", 8007)
+    safe = sdk.Safety(sdk.LeggedType.Go1)
+    
+    cmd = sdk.LowCmd()
+    state = sdk.LowState()
+    udp.InitCmdData(cmd)
+
+    Tpi = 0
+    motiontime = 0
+    while True:
+        time.sleep(0.002)
+        motiontime += 1
+
+        # print(motiontime)
+        # print(state.imu.rpy[0])
+        
+        
+        udp.Recv()
+        udp.GetRecv(state)
+        
+        if( motiontime >= 0):
+
+            # first, get record initial position
+            if( motiontime >= 0 and motiontime < 10):
+                qInit[0] = state.motorState[d['FR_0']].q
+                qInit[1] = state.motorState[d['FR_1']].q
+                qInit[2] = state.motorState[d['FR_2']].q
+            
+            # second, move to the origin point of a sine movement with Kp Kd
+            if( motiontime >= 10 and motiontime < 400):
+                rate_count += 1
+                rate = rate_count/200.0                       # needs count to 200
+                Kp = [5, 5, 5]
+                Kd = [1, 1, 1]
+                # Kp = [20, 20, 20]
+                # Kd = [2, 2, 2]
+                
+                qDes[0] = jointLinearInterpolation(qInit[0], sin_mid_q[0], rate)
+                qDes[1] = jointLinearInterpolation(qInit[1], sin_mid_q[1], rate)
+                qDes[2] = jointLinearInterpolation(qInit[2], sin_mid_q[2], rate)
+            
+            # last, do sine wave
+            freq_Hz = 1
+            # freq_Hz = 5
+            freq_rad = freq_Hz * 2* math.pi
+            t = dt*sin_count
+            if( motiontime >= 400):
+                sin_count += 1
+                # sin_joint1 = 0.6 * sin(3*M_PI*sin_count/1000.0)
+                # sin_joint2 = -0.9 * sin(3*M_PI*sin_count/1000.0)
+                sin_joint1 = 0.6 * math.sin(t*freq_rad)
+                sin_joint2 = -0.9 * math.sin(t*freq_rad)
+                qDes[0] = sin_mid_q[0]
+                qDes[1] = sin_mid_q[1] + sin_joint1
+                qDes[2] = sin_mid_q[2] + sin_joint2
+            
+
+            cmd.motorCmd[d['FR_0']].q = qDes[0]
+            cmd.motorCmd[d['FR_0']].dq = 0
+            cmd.motorCmd[d['FR_0']].Kp = Kp[0]
+            cmd.motorCmd[d['FR_0']].Kd = Kd[0]
+            cmd.motorCmd[d['FR_0']].tau = -0.65
+
+            cmd.motorCmd[d['FR_1']].q = qDes[1]
+            cmd.motorCmd[d['FR_1']].dq = 0
+            cmd.motorCmd[d['FR_1']].Kp = Kp[1]
+            cmd.motorCmd[d['FR_1']].Kd = Kd[1]
+            cmd.motorCmd[d['FR_1']].tau = 0.0
+
+            cmd.motorCmd[d['FR_2']].q =  qDes[2]
+            cmd.motorCmd[d['FR_2']].dq = 0
+            cmd.motorCmd[d['FR_2']].Kp = Kp[2]
+            cmd.motorCmd[d['FR_2']].Kd = Kd[2]
+            cmd.motorCmd[d['FR_2']].tau = 0.0
+            # cmd.motorCmd[d['FR_2']].tau = 2 * sin(t*freq_rad)
+
+
+        if(motiontime > 10):
+            safe.PowerProtect(cmd, state, 1)
+
+        udp.SetSend(cmd)
+        udp.Send()
diff --git a/src/Robot/unitree_legged_go1-walk/example_py/example_torque.py b/src/Robot/unitree_legged_go1-walk/example_py/example_torque.py
new file mode 100644
index 0000000..97e5e2b
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example_py/example_torque.py
@@ -0,0 +1,70 @@
+#!/usr/bin/python
+
+import sys
+import time
+import math
+import numpy as np
+
+sys.path.append('../lib/python/amd64')
+import robot_interface as sdk
+
+
+if __name__ == '__main__':
+
+    d = {'FR_0':0, 'FR_1':1, 'FR_2':2,
+         'FL_0':3, 'FL_1':4, 'FL_2':5, 
+         'RR_0':6, 'RR_1':7, 'RR_2':8, 
+         'RL_0':9, 'RL_1':10, 'RL_2':11 }
+    PosStopF  = math.pow(10,9)
+    VelStopF  = 16000.0
+    HIGHLEVEL = 0xee
+    LOWLEVEL  = 0xff
+    dt = 0.002
+    sin_count = 0
+
+    udp = sdk.UDP(LOWLEVEL, 8080, "192.168.123.10", 8007)
+    safe = sdk.Safety(sdk.LeggedType.Go1)
+    
+    cmd = sdk.LowCmd()
+    state = sdk.LowState()
+    udp.InitCmdData(cmd)
+
+    Tpi = 0
+    motiontime = 0
+    while True:
+        time.sleep(0.002)
+        motiontime += 1
+
+        # freq_Hz = 1
+        freq_Hz = 2
+        # freq_Hz = 5;
+        freq_rad = freq_Hz * 2* math.pi
+        # t = dt*sin_count
+
+        # print(motiontime)
+        # print(state.imu.rpy[0])
+        
+        
+        udp.Recv()
+        udp.GetRecv(state)
+
+        if( motiontime >= 500):
+            sin_count += 1
+            torque = (0 - state.motorState[d['FR_1']].q)*10.0 + (0 - state.motorState[d['FR_1']].dq)*1.0
+            # torque = (0 - state.motorState[d['FR_1']].q)*20.0 + (0 - state.motorState[d['FR_1']].dq)*2.0
+            # torque = 2 * sin(t*freq_rad)
+            torque = np.fmin(np.fmax(torque, -5.0), 5.0)
+            # torque = np.fmin(np.fmax(torque, -15.0), 15.0)
+
+
+            cmd.motorCmd[d['FR_1']].q = PosStopF
+            cmd.motorCmd[d['FR_1']].dq = VelStopF
+            cmd.motorCmd[d['FR_1']].Kp = 0
+            cmd.motorCmd[d['FR_1']].Kd = 0
+            cmd.motorCmd[d['FR_1']].tau = torque
+        
+        if(motiontime > 10):
+            safe.PowerProtect(cmd, state, 1)
+
+        udp.SetSend(cmd)
+        udp.Send()
diff --git a/src/Robot/unitree_legged_go1-walk/example_py/example_velocity.py b/src/Robot/unitree_legged_go1-walk/example_py/example_velocity.py
new file mode 100644
index 0000000..f170b39
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example_py/example_velocity.py
@@ -0,0 +1,58 @@
+#!/usr/bin/python
+
+import sys
+import time
+import math
+
+sys.path.append('../lib/python/amd64')
+import robot_interface as sdk
+
+
+if __name__ == '__main__':
+
+    d = {'FR_0':0, 'FR_1':1, 'FR_2':2,
+         'FL_0':3, 'FL_1':4, 'FL_2':5, 
+         'RR_0':6, 'RR_1':7, 'RR_2':8, 
+         'RL_0':9, 'RL_1':10, 'RL_2':11 }
+    PosStopF  = math.pow(10,9)
+    VelStopF  = 16000.0
+    HIGHLEVEL = 0xee
+    LOWLEVEL  = 0xff
+
+    udp = sdk.UDP(LOWLEVEL, 8080, "192.168.123.10", 8007)
+    safe = sdk.Safety(sdk.LeggedType.Go1)
+    
+    cmd = sdk.LowCmd()
+    state = sdk.LowState()
+    udp.InitCmdData(cmd)
+
+    Tpi = 0
+    motiontime = 0
+    while True:
+        time.sleep(0.002)
+        motiontime += 1
+
+        # print(motiontime)
+        # print(state.imu.rpy[0])
+        
+        
+        udp.Recv()
+        udp.GetRecv(state)
+        
+        if( motiontime >= 500):
+            speed = 2 * math.sin(3*math.pi*Tpi/2000.0)
+
+            # cmd.motorCmd[d['FL_2']].q = PosStopF
+            cmd.motorCmd[d['FL_2']].q = 0
+            cmd.motorCmd[d['FL_2']].dq = speed
+            cmd.motorCmd[d['FL_2']].Kp = 0
+            cmd.motorCmd[d['FL_2']].Kd = 4
+            cmd.motorCmd[d['FL_2']].tau = 0.0
+
+            Tpi += 1
+        
+        if(motiontime > 10):
+            safe.PowerProtect(cmd, state, 1)
+        
+        udp.SetSend(cmd)
+        udp.Send()
diff --git a/src/Robot/unitree_legged_go1-walk/example_py/example_walk.py b/src/Robot/unitree_legged_go1-walk/example_py/example_walk.py
new file mode 100644
index 0000000..c697c33
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/example_py/example_walk.py
@@ -0,0 +1,119 @@
+#!/usr/bin/python
+
+import sys
+import time
+import math
+
+sys.path.append('../lib/python/amd64')
+import robot_interface as sdk
+
+
+if __name__ == '__main__':
+
+    HIGHLEVEL = 0xee
+    LOWLEVEL  = 0xff
+
+    udp = sdk.UDP(HIGHLEVEL, 8080, "192.168.123.161", 8082)
+
+    cmd = sdk.HighCmd()
+    state = sdk.HighState()
+    udp.InitCmdData(cmd)
+
+    motiontime = 0
+    while True:
+        time.sleep(0.002)
+        motiontime = motiontime + 1
+
+        udp.Recv()
+        udp.GetRecv(state)
+        
+        # print(motiontime)
+        # print(state.imu.rpy[0])
+        # print(motiontime, state.motorState[0].q, state.motorState[1].q, state.motorState[2].q)
+        # print(state.imu.rpy[0])
+
+        cmd.mode = 0      # 0:idle, default stand      1:forced stand     2:walk continuously
+        cmd.gaitType = 0
+        cmd.speedLevel = 0
+        cmd.footRaiseHeight = 0
+        cmd.bodyHeight = 0
+        cmd.euler = [0, 0, 0]
+        cmd.velocity = [0, 0]
+        cmd.yawSpeed = 0.0
+        cmd.reserve = 0
+
+        # cmd.mode = 2
+        # cmd.gaitType = 1
+        # # cmd.position = [1, 0]
+        # # cmd.position[0] = 2
+        # cmd.velocity = [-0.2, 0] # -1  ~ +1
+        # cmd.yawSpeed = 0
+        # cmd.bodyHeight = 0.1
+
+        if(motiontime > 0 and motiontime < 1000):
+            cmd.mode = 1
+            cmd.euler = [-0.3, 0, 0]
+        
+        if(motiontime > 1000 and motiontime < 2000):
+            cmd.mode = 1
+            cmd.euler = [0.3, 0, 0]
+        
+        if(motiontime > 2000 and motiontime < 3000):
+            cmd.mode = 1
+            cmd.euler = [0, -0.2, 0]
+        
+        if(motiontime > 3000 and motiontime < 4000):
+            cmd.mode = 1
+            cmd.euler = [0, 0.2, 0]
+        
+        if(motiontime > 4000 and motiontime < 5000):
+            cmd.mode = 1
+            cmd.euler = [0, 0, -0.2]
+        
+        if(motiontime > 5000 and motiontime < 6000):
+            cmd.mode = 1
+            cmd.euler = [0.2, 0, 0]
+        
+        if(motiontime > 6000 and motiontime < 7000):
+            cmd.mode = 1
+            cmd.bodyHeight = -0.2
+        
+        if(motiontime > 7000 and motiontime < 8000):
+            cmd.mode = 1
+            cmd.bodyHeight = 0.1
+        
+        if(motiontime > 8000 and motiontime < 9000):
+            cmd.mode = 1
+            cmd.bodyHeight = 0.0
+        
+        if(motiontime > 9000 and motiontime < 11000):
+            cmd.mode = 5
+        
+        if(motiontime > 11000 and motiontime < 13000):
+            cmd.mode = 6
+        
+        if(motiontime > 13000 and motiontime < 14000):
+            cmd.mode = 0
+        
+        if(motiontime > 14000 and motiontime < 18000):
+            cmd.mode = 2
+            cmd.gaitType = 2
+            cmd.velocity = [0.4, 0] # -1  ~ +1
+            cmd.yawSpeed = 2
+            cmd.footRaiseHeight = 0.1
+            # printf("walk\n")
+        
+        if(motiontime > 18000 and motiontime < 20000):
+            cmd.mode = 0
+            cmd.velocity = [0, 0]
+        
+        if(motiontime > 20000 and motiontime < 24000):
+            cmd.mode = 2
+            cmd.gaitType = 1
+            cmd.velocity = [0.2, 0] # -1  ~ +1
+            cmd.bodyHeight = 0.1
+            # printf("walk\n")
+            
+
+        udp.SetSend(cmd)
+        udp.Send()
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/a1_const.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/a1_const.h
new file mode 100644
index 0000000..ccf331c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/a1_const.h
@@ -0,0 +1,17 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_A1_H_
+#define _UNITREE_LEGGED_A1_H_
+
+namespace UNITREE_LEGGED_SDK {
+constexpr double a1_Hip_max = 0.802;    // unit:radian ( = 46   degree)
+constexpr double a1_Hip_min = -0.802;   // unit:radian ( = -46  degree)
+constexpr double a1_Thigh_max = 4.19;   // unit:radian ( = 240  degree)
+constexpr double a1_Thigh_min = -1.05;  // unit:radian ( = -60  degree)
+constexpr double a1_Calf_max = -0.916;  // unit:radian ( = -52.5  degree)
+constexpr double a1_Calf_min = -2.7;    // unit:radian ( = -154.5 degree)
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/aliengo_const.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/aliengo_const.h
new file mode 100644
index 0000000..558c40c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/aliengo_const.h
@@ -0,0 +1,17 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_ALIENGO_H_
+#define _UNITREE_LEGGED_ALIENGO_H_
+
+namespace UNITREE_LEGGED_SDK {
+constexpr double aliengo_Hip_max = 1.047;     // unit:radian ( = 60   degree)
+constexpr double aliengo_Hip_min = -0.873;    // unit:radian ( = -50  degree)
+constexpr double aliengo_Thigh_max = 3.927;   // unit:radian ( = 225  degree)
+constexpr double aliengo_Thigh_min = -0.524;  // unit:radian ( = -30  degree)
+constexpr double aliengo_Calf_max = -0.611;   // unit:radian ( = -35  degree)
+constexpr double aliengo_Calf_min = -2.775;   // unit:radian ( = -159 degree)
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/b1_const.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/b1_const.h
new file mode 100644
index 0000000..1ceee38
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/b1_const.h
@@ -0,0 +1,15 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef B1_CONST_H
+#define B1_CONST_H
+namespace UNITREE_LEGGED_SDK {
+constexpr double b1_Hip_max = 0.75;
+constexpr double b1_Hip_min = -0.75;
+constexpr double b1_Thigh_max = 3.5;
+constexpr double b1_Thigh_min = -1.0;
+constexpr double b1_Calf_max = -0.6;
+constexpr double b1_Calf_min = -2.6;
+}  // namespace UNITREE_LEGGED_SDK
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/comm.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/comm.h
new file mode 100644
index 0000000..9282280
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/comm.h
@@ -0,0 +1,228 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_COMM_H_
+#define _UNITREE_LEGGED_COMM_H_
+
+#include <stdint.h>
+#include <array>
+
+namespace UNITREE_LEGGED_SDK
+{
+
+  constexpr int HIGHLEVEL = 0xee;
+  constexpr int LOWLEVEL = 0xff;
+  constexpr int TRIGERLEVEL = 0xf0;
+  constexpr double PosStopF = (2.146E+9f);
+  constexpr double VelStopF = (16000.0f);
+  extern const int HIGH_CMD_LENGTH;   // sizeof(HighCmd)
+  extern const int HIGH_STATE_LENGTH; // sizeof(HighState)
+  extern const int LOW_CMD_LENGTH;    // shorter than sizeof(LowCmd),   bytes compressed LowCmd length
+  extern const int LOW_STATE_LENGTH;  // shorter than sizeof(LowState), bytes compressed LowState length
+
+#pragma pack(1)
+
+  typedef struct
+  {
+    uint8_t off; // set 0xA5 to turn off the battery, please try it under the premise of ensuring safety
+    std::array<uint8_t, 3> reserve;
+  } BmsCmd;
+
+  typedef struct
+  {
+    uint8_t version_h;
+    uint8_t version_l;
+    uint8_t bms_status;                // 0x00 : wakeup, 0X01 :  discharge, 0x02 : charge, 0x03 : charger, 0x04 : precharge, 0x05 : charge_err, 0x06 : waterfall_light, 0x07 : self_discharge, 0x08 : junk.
+    uint8_t SOC;                       // SOC 0-100%
+    int32_t current;                   // （unit: mA)
+    uint16_t cycle;                    // The current number of cycles of the battery
+    std::array<int8_t, 2> BQ_NTC;      // x1 degrees centigrade
+    std::array<int8_t, 2> MCU_NTC;     // x1 degrees centigrade
+    std::array<uint16_t, 10> cell_vol; // cell voltage mV
+  } BmsState;
+
+  typedef struct
+  {
+    float x;
+    float y;
+    float z;
+  } Cartesian;
+
+  typedef struct
+  {
+    std::array<float, 4> quaternion;    // quaternion, normalized, (w,x,y,z)
+    std::array<float, 3> gyroscope;     // angular velocity （unit: rad/s)    (raw data)
+    std::array<float, 3> accelerometer; // acceleration （unit: m/(s2))       (raw data)
+    std::array<float, 3> rpy;           // euler angle（unit: rad)
+    int8_t temperature;                 // the temperature of imu (unit: °C)
+  } IMU;                                // when under accelerated motion, the attitude of the robot calculated by IMU will drift.
+
+  typedef struct
+  {
+    uint8_t r;
+    uint8_t g;
+    uint8_t b;
+  } LED; // reserve
+
+  typedef struct
+  {
+    uint8_t mode;       // motor working mode. Servo : 0x0A, Damping : 0x00，Overheat ： 0x08.
+    float q;            // current angle (unit: radian)
+    float dq;           // current velocity (unit: radian/second)
+    float ddq;          // current acc (unit: radian/second*second)
+    float tauEst;       // current estimated output torque (unit: N.m)
+    float q_raw;        // reserve
+    float dq_raw;       // reserve
+    float ddq_raw;      // reserve
+    int8_t temperature; // current temperature (temperature conduction is slow that leads to lag)
+    std::array<uint32_t, 2> reserve;
+  } MotorState; // motor feedback
+
+  typedef struct
+  {
+    uint8_t mode; // desired working mode. Servo : 0x0A, Damping : 0x00.
+    float q;      // desired angle (unit: radian)
+    float dq;     // desired velocity (unit: radian/second)
+    float tau;    // desired output torque (unit: N.m)
+    float Kp;     // desired position stiffness (unit: N.m/rad )
+    float Kd;     // desired velocity stiffness (unit: N.m/(rad/s) )
+    std::array<uint32_t, 3> reserve;
+  } MotorCmd; // motor control
+
+  typedef struct
+  {
+    std::array<uint8_t, 2> head; // reserve
+    uint8_t levelFlag;           // reserve
+    uint8_t frameReserve;        // reserve
+
+    std::array<uint32_t, 2> SN;      // reserve
+    std::array<uint32_t, 2> version; // reserve
+    uint16_t bandWidth;              // reserve
+    IMU imu;
+    std::array<MotorState, 20> motorState;
+    BmsState bms;
+    std::array<int16_t, 4> footForce;       // Data from foot airbag sensor
+    std::array<int16_t, 4> footForceEst;    // reserve，typically zero
+    uint32_t tick;                          // reference real-time from motion controller (unit: ms)
+    std::array<uint8_t, 40> wirelessRemote; // Data from Unitree Joystick.
+    uint32_t reserve;
+
+    uint32_t crc;
+  } LowState; // low level feedback
+
+  typedef struct
+  {
+    std::array<uint8_t, 2> head; // reserve
+    uint8_t levelFlag;           // reserve
+    uint8_t frameReserve;        // reserve
+
+    std::array<uint32_t, 2> SN;      // reserve
+    std::array<uint32_t, 2> version; // reserve
+    uint16_t bandWidth;
+    std::array<MotorCmd, 20> motorCmd;
+    BmsCmd bms;
+    std::array<uint8_t, 40> wirelessRemote; // reserve
+    uint32_t reserve;
+
+    uint32_t crc;
+  } LowCmd; // low level control
+
+  typedef struct
+  {
+    std::array<uint8_t, 2> head; // reserve
+    uint8_t levelFlag;           // reserve
+    uint8_t frameReserve;        // reserve
+
+    std::array<uint32_t, 2> SN;      // reserve
+    std::array<uint32_t, 2> version; // reserve
+    uint16_t bandWidth;
+    IMU imu;
+    std::array<MotorState, 20> motorState;
+    BmsState bms;
+    std::array<int16_t, 4> footForce;           // Data from foot airbag sensor
+    std::array<int16_t, 4> footForceEst;        // reserve，typically zero
+    uint8_t mode;                               // The current mode of the robot
+    float progress;                             // reserve
+    uint8_t gaitType;                           // 0.idle  1.trot  2.trot running  3.climb stair  4.trot obstacle
+    float footRaiseHeight;                      // (unit: m, default: 0.08m), foot up height while walking
+    std::array<float, 3> position;              // (unit: m), from own odometry in inertial frame, usually drift
+    float bodyHeight;                           // (unit: m, default: 0.28m),
+    std::array<float, 3> velocity;              // (unit: m/s), forwardSpeed, sideSpeed, rotateSpeed in body frame
+    float yawSpeed;                             // (unit: rad/s), rotateSpeed in body frame
+    std::array<float, 4> rangeObstacle;         // Distance to nearest obstacle
+    std::array<Cartesian, 4> footPosition2Body; // foot position relative to body
+    std::array<Cartesian, 4> footSpeed2Body;    // foot speed relative to body
+    std::array<uint8_t, 40> wirelessRemote;     // Data from Unitree Joystick.
+    uint32_t reserve;
+
+    uint32_t crc;
+  } HighState; // high level feedback
+
+  typedef struct
+  {
+    std::array<uint8_t, 2> head; // reserve, no need to set.
+    uint8_t levelFlag;           // reserve. No need to set, only need to set UDP class.
+    uint8_t frameReserve;        // reserve
+
+    std::array<uint32_t, 2> SN;      // reserve
+    std::array<uint32_t, 2> version; // reserve
+    uint16_t bandWidth;              // reserve
+    uint8_t mode;                    // 0. idle, default stand
+                                     // 1. force stand (controlled by dBodyHeight + ypr)
+                                     // 2. target velocity walking (controlled by velocity + yawSpeed)
+                                     // 3. target position walking (controlled by position + ypr[0]), reserve
+                                     // 4. path mode walking (reserve for future release), reserve
+                                     // 5. position stand down.
+                                     // 6. position stand up
+                                     // 7. damping mode
+                                     // 8. recovery stand
+                                     // 9. backflip, reserve
+                                     // 10. jumpYaw, only left direction. Note, to use this mode, you need to set mode = 1 first.
+                                     // 11. straightHand. Note, to use this mode, you need to set mode = 1 first.
+
+    uint8_t gaitType;              // 0.idle
+                                   // 1.trot
+                                   // 2.trot running
+                                   // 3.climb stair
+                                   // 4.trot obstacle
+    uint8_t speedLevel;            // reserve
+    float footRaiseHeight;         // (unit: m, range: -0.06~0.03m, default: 0.09m), foot up height while walking, delta value
+    float bodyHeight;              // (unit: m, range: -0.13~0.03m, default: 0.31m), delta value
+    std::array<float, 2> position; // (unit: m), desired position in inertial frame, reserve
+    std::array<float, 3> euler;    // (unit: rad), roll pitch yaw in stand mode
+                                   // (range: roll : -0.75~0.75rad)
+                                   // (range: pitch: -0.75~0.75rad)
+                                   // (range: yaw  : -0.6~0.6rad)
+    std::array<float, 2> velocity; // (unit: m/s), forwardSpeed, sideSpeed in body frame
+                                   // (range: trot : vx:-1.1~1.5m/s,  vy:-1.0~1.0m/s)
+                                   // (range: run  : vx:-2.5~3.5m/s,  vy:-1.0~1.0m/s)
+                                   // (range: stair: vx:-0.2~0.25m/s, vy:-0.15~0.15m/s)
+    float yawSpeed;                // (unit: rad/s), rotateSpeed in body frame
+                                   // (range: trot : -4.0~4.0rad/s)
+                                   // (range: run  : -4.0~4.0rad/s)
+                                   // (range: stair: -0.7~0.7rad/s)
+    BmsCmd bms;
+    std::array<LED, 4> led;                 // reserve
+    std::array<uint8_t, 40> wirelessRemote; // reserve
+    uint32_t reserve;
+
+    uint32_t crc;
+  } HighCmd; // high level control
+
+#pragma pack()
+
+  typedef struct
+  {
+    unsigned long long TotalCount;    // total loop count
+    unsigned long long SendCount;     // total send count
+    unsigned long long RecvCount;     // total receive count
+    unsigned long long SendError;     // total send error
+    unsigned long long FlagError;     // total flag error
+    unsigned long long RecvCRCError;  // total reveive CRC error
+    unsigned long long RecvLoseError; // total lose package count
+  } UDPState;                         // UDP communication state
+
+} // namespace UNITREE_LEGGED_SDK
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/go1_const.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/go1_const.h
new file mode 100644
index 0000000..7aeca4f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/go1_const.h
@@ -0,0 +1,17 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_GO1_H_
+#define _UNITREE_LEGGED_GO1_H_
+
+namespace UNITREE_LEGGED_SDK {
+constexpr double go1_Hip_max = 1.047;     // unit:radian ( = 60   degree)
+constexpr double go1_Hip_min = -1.047;    // unit:radian ( = -60  degree)
+constexpr double go1_Thigh_max = 2.966;   // unit:radian ( = 170  degree)
+constexpr double go1_Thigh_min = -0.663;  // unit:radian ( = -38  degree)
+constexpr double go1_Calf_max = -0.837;   // unit:radian ( = -48  degree)
+constexpr double go1_Calf_min = -2.721;   // unit:radian ( = -156 degree)
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/joystick.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/joystick.h
new file mode 100644
index 0000000..8be7315
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/joystick.h
@@ -0,0 +1,44 @@
+/*****************************************************************
+Copyright (c) 2020, Unitree Robotics.Co.Ltd. All rights reserved.
+*****************************************************************/
+#ifndef _UNITREE_LEGGED_JOYSTICK_H_
+#define _UNITREE_LEGGED_JOYSTICK_H_
+
+#include <stdint.h>
+// 16b
+typedef union {
+  struct {
+    uint8_t R1 : 1;
+    uint8_t L1 : 1;
+    uint8_t start : 1;
+    uint8_t select : 1;
+    uint8_t R2 : 1;
+    uint8_t L2 : 1;
+    uint8_t F1 : 1;
+    uint8_t F2 : 1;
+    uint8_t A : 1;
+    uint8_t B : 1;
+    uint8_t X : 1;
+    uint8_t Y : 1;
+    uint8_t up : 1;
+    uint8_t right : 1;
+    uint8_t down : 1;
+    uint8_t left : 1;
+  } components;
+  uint16_t value;
+} xKeySwitchUnion;
+
+// 40 Byte (now used 24B)
+typedef struct {
+  uint8_t head[2];
+  xKeySwitchUnion btn;
+  float lx;
+  float rx;
+  float ry;
+  float L2;
+  float ly;
+
+  uint8_t idle[16];
+} xRockerBtnDataStruct;
+
+#endif  // _UNITREE_LEGGED_JOYSTICK_H_
\ No newline at end of file
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/loop.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/loop.h
new file mode 100644
index 0000000..7e9c96c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/loop.h
@@ -0,0 +1,61 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_LOOP_H_
+#define _UNITREE_LEGGED_LOOP_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <thread>
+#include <pthread.h>
+#include <vector>
+#include <boost/shared_ptr.hpp>
+#include <boost/function.hpp>
+
+namespace UNITREE_LEGGED_SDK {
+
+constexpr int THREAD_PRIORITY = 95;  // real-time priority
+
+typedef boost::function<void()> Callback;
+
+class Loop {
+ public:
+  Loop(std::string name, float period, int bindCPU = -1)
+      : _name(name), _period(period), _bindCPU(bindCPU) {}
+  ~Loop();
+  void start();
+  void shutdown();
+  virtual void functionCB() = 0;
+
+ private:
+  void entryFunc();
+
+  std::string _name;
+  float _period;
+  int _bindCPU;
+  bool _bind_cpu_flag = false;
+  bool _isrunning = false;
+  std::thread _thread;
+};
+
+/*
+  period     unit:second
+  bindCPU    change the CPU affinity of this thread
+*/
+class LoopFunc : public Loop {
+ public:
+  LoopFunc(std::string name, float period, const Callback& _cb)
+      : Loop(name, period), _fp(_cb) {}
+  LoopFunc(std::string name, float period, int bindCPU, const Callback& _cb)
+      : Loop(name, period, bindCPU), _fp(_cb) {}
+  void functionCB() { (_fp)(); }
+
+ private:
+  boost::function<void()> _fp;
+};
+
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/quadruped.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/quadruped.h
new file mode 100644
index 0000000..ee5f78a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/quadruped.h
@@ -0,0 +1,48 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_QUADRUPED_H_
+#define _UNITREE_LEGGED_QUADRUPED_H_
+
+#include <string>
+
+using namespace std;
+
+namespace UNITREE_LEGGED_SDK {
+
+enum class LeggedType {
+  Aliengo,
+  A1,
+  Go1,
+  B1
+};
+
+string VersionSDK();
+int InitEnvironment();  // memory lock
+
+// definition of each leg and joint
+constexpr int FR_ = 0;  // leg index
+constexpr int FL_ = 1;
+constexpr int RR_ = 2;
+constexpr int RL_ = 3;
+
+constexpr int FR_0 = 0;  // joint index
+constexpr int FR_1 = 1;
+constexpr int FR_2 = 2;
+
+constexpr int FL_0 = 3;
+constexpr int FL_1 = 4;
+constexpr int FL_2 = 5;
+
+constexpr int RR_0 = 6;
+constexpr int RR_1 = 7;
+constexpr int RR_2 = 8;
+
+constexpr int RL_0 = 9;
+constexpr int RL_1 = 10;
+constexpr int RL_2 = 11;
+
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/safety.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/safety.h
new file mode 100644
index 0000000..a18e277
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/safety.h
@@ -0,0 +1,29 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_SAFETY_H_
+#define _UNITREE_LEGGED_SAFETY_H_
+
+#include "comm.h"
+#include "quadruped.h"
+
+namespace UNITREE_LEGGED_SDK {
+
+class Safety {
+ public:
+  Safety(LeggedType type);
+  ~Safety();
+  void PositionLimit(LowCmd&);                                    // only effect under Low Level control in Position mode
+  int PowerProtect(LowCmd&, LowState&, int);                      /* only effect under Low Level control, input factor: 1~10,
+                                                                                                             means 10%~100% power limit. If you are new, then use 1; if you are familiar,
+                                                                                                             then can try bigger number or even comment this function. */
+  int PositionProtect(LowCmd&, LowState&, double limit = 0.087);  // default limit is 5 degree
+ private:
+  int WattLimit, Wcount;  // Watt. When limit to 100, you can triger it with 4 hands shaking.
+  double Hip_max, Hip_min, Thigh_max, Thigh_min, Calf_max, Calf_min;
+};
+
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/udp.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/udp.h
new file mode 100644
index 0000000..c3c1c25
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/udp.h
@@ -0,0 +1,98 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_UDP_H_
+#define _UNITREE_LEGGED_UDP_H_
+
+#include "comm.h"
+#include "unitree_legged_sdk/quadruped.h"
+#include <pthread.h>
+#include <stdint.h>
+
+/*
+    UDP critical configuration:
+
+    1. initiativeDisconnect: if need disconnection after connected, another ip/port can access after disconnection
+
+                 /--- block             will block till data come
+    2. recvType  ---- block + timeout   will block till data come or timeout
+                 \--- non block         if no data will return immediately
+
+                  /--- Y  ip/port will be set later
+    3. setIpPort:
+                  \--- N  ip/port not specified, as a server wait for connect
+*/
+
+namespace UNITREE_LEGGED_SDK {
+
+constexpr int UDP_CLIENT_PORT = 8080;                      // local port
+constexpr int UDP_SERVER_PORT = 8007;                      // target port
+constexpr char UDP_SERVER_IP_BASIC[] = "192.168.123.10";   // target IP address
+constexpr char UDP_SERVER_IP_SPORT[] = "192.168.123.161";  // target IP address
+
+typedef enum {
+  nonBlock = 0x00,
+  block = 0x01,
+  blockTimeout = 0x02,
+} RecvEnum;
+
+// Notice: User defined data(like struct) should add crc(4Byte) at the end.
+class UDP {
+ public:
+  UDP(uint8_t level, uint16_t localPort, const char* targetIP, uint16_t targetPort);  // udp use dafault length according to level
+  UDP(uint16_t localPort, const char* targetIP, uint16_t targetPort,
+      int sendLength, int recvLength, bool initiativeDisconnect = false, RecvEnum recvType = RecvEnum::nonBlock);
+  UDP(uint16_t localPort,
+      int sendLength, int recvLength, bool initiativeDisconnect = false, RecvEnum recvType = RecvEnum::nonBlock, bool setIpPort = false);
+  ~UDP();
+
+  void SetIpPort(const char* targetIP, uint16_t targetPort);  // if not indicated at constructor function
+  void SetRecvTimeout(int time);                              // use in RecvEnum::blockTimeout  (unit: ms)
+
+  void SetDisconnectTime(float callback_dt, float disconnectTime);  // initiativeDisconnect = true, disconnect for another IP to connect
+  void SetAccessibleTime(float callback_dt, float accessibleTime);  // check if can access data
+
+  int Send();
+  int Recv();  // directly save in buffer
+
+  void InitCmdData(HighCmd& cmd);
+  void InitCmdData(LowCmd& cmd);
+  int SetSend(char*);
+  int SetSend(HighCmd&);
+  int SetSend(LowCmd&);
+  void GetRecv(char*);
+  void GetRecv(HighState&);
+  void GetRecv(LowState&);
+
+  UDPState udpState;
+  char* targetIP;
+  uint16_t targetPort;
+  char* localIP;
+  uint16_t localPort;
+  bool accessible = false;  // can access or not
+
+ private:
+  void init(uint16_t localPort, const char* targetIP = NULL, uint16_t targetPort = 0);
+
+  int sockFd;
+  bool connected;  // udp works with connect() function, rather than server mode
+  int sendLength;
+  int recvLength;
+  int lose_recv;
+
+  char* recvBuf;
+  char* recvAvaliable;
+  char* sendBuf;
+  pthread_mutex_t sendMutex;
+  pthread_mutex_t recvMutex;
+  pthread_mutex_t udpMutex;
+
+  bool nonblock = true;
+  int blockTimeout = -1;              // use time out method or not, (unit: ms)
+  bool initiativeDisconnect = false;  //
+};
+
+}  // namespace UNITREE_LEGGED_SDK
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/unitree_legged_sdk.h b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/unitree_legged_sdk.h
new file mode 100644
index 0000000..d5acd7a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/include/unitree_legged_sdk/unitree_legged_sdk.h
@@ -0,0 +1,18 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#ifndef _UNITREE_LEGGED_SDK_H_
+#define _UNITREE_LEGGED_SDK_H_
+
+#include "comm.h"
+#include "safety.h"
+#include "udp.h"
+#include "loop.h"
+#include "quadruped.h"
+#include "joystick.h"
+#include <boost/bind.hpp>
+
+#define UT UNITREE_LEGGED_SDK  // short name
+
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/lib/cpp/amd64/libunitree_legged_sdk.a b/src/Robot/unitree_legged_go1-walk/lib/cpp/amd64/libunitree_legged_sdk.a
new file mode 100644
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diff --git a/src/Robot/unitree_legged_go1-walk/lib/cpp/arm64/libunitree_legged_sdk.a b/src/Robot/unitree_legged_go1-walk/lib/cpp/arm64/libunitree_legged_sdk.a
new file mode 100644
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diff --git a/src/Robot/unitree_legged_go1-walk/lib/python/arm64/robot_interface.cpython-38-aarch64-linux-gnu.so b/src/Robot/unitree_legged_go1-walk/lib/python/arm64/robot_interface.cpython-38-aarch64-linux-gnu.so
new file mode 100644
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HcmV?d00001

diff --git a/src/Robot/unitree_legged_go1-walk/package.xml b/src/Robot/unitree_legged_go1-walk/package.xml
new file mode 100644
index 0000000..d2181bf
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/package.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+
+<package format="2">
+  <name>unitree_legged_sdk</name>
+  <version>0.0.0</version>
+  <description>The unitree_legged_sdk package.</description>
+  <maintainer email="laikago@unitree.cc">unitree</maintainer>
+  <license>TODO</license>
+  
+  <buildtool_depend>catkin</buildtool_depend>
+</package>
\ No newline at end of file
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/CMakeLists.txt
new file mode 100644
index 0000000..f1686d0
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/CMakeLists.txt
@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(unitree_legged_sdk_python_wrapper)
+
+# check arch and os
+message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}")
+if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
+    set(ARCH amd64)
+endif()
+if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "aarch64.*")
+    set(ARCH arm64)
+endif()
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../include)
+link_directories(${CMAKE_CURRENT_SOURCE_DIR}/../lib/cpp/${ARCH})
+file(GLOB_RECURSE sources "cpp/*.cpp")
+
+set(EXTRA_LIBS -pthread rt m libunitree_legged_sdk.a)
+# set(CMAKE_CXX_FLAGS "-O3 -no-pie")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}  -O3 -fPIC")
+set(CMAKE_CXX_STANDARD 14)
+# python
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../lib/python/${ARCH}) # .so .dylib
+
+add_subdirectory(third-party/pybind11)
+
+pybind11_add_module(robot_interface python_interface.cpp)
+target_link_libraries(robot_interface ${EXTRA_LIBS} unitree_legged_sdk)
+
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/python_interface.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/python_interface.cpp
new file mode 100644
index 0000000..510bd1b
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/python_interface.cpp
@@ -0,0 +1,220 @@
+/**********************************************************************
+ Copyright (c) 2020-2023, Unitree Robotics.Co.Ltd. All rights reserved.
+***********************************************************************/
+
+#include "unitree_legged_sdk/unitree_legged_sdk.h"
+#include <iostream>
+#include <unistd.h>
+#include <string.h>
+#include <array>
+#include <math.h>
+#include <pybind11/operators.h>
+#include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
+#include <vector>
+#include <msgpack.hpp>
+
+using namespace UNITREE_LEGGED_SDK;
+
+namespace py = pybind11;
+
+PYBIND11_MODULE(robot_interface, m) {
+  py::enum_<LeggedType>(m, "LeggedType")
+      .value("Aliengo", LeggedType::Aliengo)
+      .value("A1", LeggedType::A1)
+      .value("Go1", LeggedType::Go1)
+      .value("B1", LeggedType::B1)
+      .export_values();
+
+  py::enum_<RecvEnum>(m, "RecvEnum")
+      .value("nonBlock", RecvEnum::nonBlock)
+      .value("block", RecvEnum::block)
+      .value("blockTimeout", RecvEnum::blockTimeout)
+      .export_values();
+
+  py::class_<UDP>(m, "UDP")
+      .def(py::init<uint8_t, uint16_t, const char *, uint16_t>())
+      .def(py::init<uint16_t, const char *, uint16_t, int, int, bool, RecvEnum>())
+      .def(py::init<uint16_t, int, int, bool, RecvEnum, bool>())
+      .def("SetIpPort", &UDP::SetIpPort)
+      .def("SetRecvTimeout", &UDP::SetRecvTimeout)
+      .def("SetDisconnectTime", &UDP::SetDisconnectTime)
+      .def("SetAccessibleTime", &UDP::SetAccessibleTime)
+      .def("Send", &UDP::Send)
+      .def("Recv", &UDP::Recv)
+      .def("InitCmdData", py::overload_cast<HighCmd &>(&UDP::InitCmdData))
+      .def("InitCmdData", py::overload_cast<LowCmd &>(&UDP::InitCmdData))
+      .def("SetSend", py::overload_cast<char *>(&UDP::SetSend))
+      .def("SetSend", py::overload_cast<HighCmd &>(&UDP::SetSend))
+      .def("SetSend", py::overload_cast<LowCmd &>(&UDP::SetSend))
+      .def("GetRecv", py::overload_cast<char *>(&UDP::GetRecv))
+      .def("GetRecv", py::overload_cast<HighState &>(&UDP::GetRecv))
+      .def("GetRecv", py::overload_cast<LowState &>(&UDP::GetRecv));
+
+  py::class_<Safety>(m, "Safety")
+      .def(py::init<LeggedType>())
+      .def("PositionLimit", &Safety::PositionLimit)
+      .def("PowerProtect", &Safety::PowerProtect)
+      .def("PositionProtect", &Safety::PositionProtect);
+
+  // py::class_<Loop>(m, "Loop")
+  //     .def(py::init<std::string, float, int>())
+  //     .def("functionCB", &Loop::functionCB);
+
+  // py::class_<LoopFunc, Loop>(m, "LoopFunc")
+  //     .def(py::init<std::string, float, const Callback&>());
+  //     // .def(py::init<std::string, float, const boost::function<void ()>& >());
+
+  py::class_<BmsCmd>(m, "BmsCmd")
+      .def(py::init<>())
+      .def_readwrite("off", &BmsCmd::off)
+      .def_readwrite("reserve", &BmsCmd::reserve);
+
+  py::class_<BmsState>(m, "BmsState")
+      .def(py::init<>())
+      .def_readwrite("version_h", &BmsState::version_h)
+      .def_readwrite("version_l", &BmsState::version_l)
+      .def_readwrite("bms_status", &BmsState::bms_status)
+      .def_readwrite("SOC", &BmsState::SOC)
+      .def_readwrite("current", &BmsState::current)
+      .def_readwrite("cycle", &BmsState::cycle)
+      .def_readwrite("BQ_NTC", &BmsState::BQ_NTC)
+      .def_readwrite("MCU_NTC", &BmsState::MCU_NTC)
+      .def_readwrite("cell_vol", &BmsState::cell_vol);
+
+  py::class_<Cartesian>(m, "Cartesian")
+      .def(py::init<>())
+      .def_readwrite("x", &Cartesian::x)
+      .def_readwrite("y", &Cartesian::y)
+      .def_readwrite("z", &Cartesian::z);
+
+  py::class_<IMU>(m, "IMU")
+      .def(py::init<>())
+      .def_readwrite("quaternion", &IMU::quaternion)
+      .def_readwrite("gyroscope", &IMU::gyroscope)
+      .def_readwrite("accelerometer", &IMU::accelerometer)
+      .def_readwrite("rpy", &IMU::rpy)
+      .def_readwrite("temperature", &IMU::temperature);
+
+  py::class_<LED>(m, "LED")
+      .def(py::init<>())
+      .def_readwrite("r", &LED::r)
+      .def_readwrite("g", &LED::g)
+      .def_readwrite("b", &LED::b);
+
+  py::class_<MotorState>(m, "MotorState")
+      .def(py::init<>())
+      .def_readwrite("mode", &MotorState::mode)
+      .def_readwrite("q", &MotorState::q)
+      .def_readwrite("dq", &MotorState::dq)
+      .def_readwrite("ddq", &MotorState::ddq)
+      .def_readwrite("tauEst", &MotorState::tauEst)
+      .def_readwrite("q_raw", &MotorState::q_raw)
+      .def_readwrite("dq_raw", &MotorState::dq_raw)
+      .def_readwrite("ddq_raw", &MotorState::ddq_raw)
+      .def_readwrite("temperature", &MotorState::temperature)
+      .def_readwrite("reserve", &MotorState::reserve);
+
+  py::class_<MotorCmd>(m, "MotorCmd")
+      .def(py::init<>())
+      .def_readwrite("mode", &MotorCmd::mode)
+      .def_readwrite("q", &MotorCmd::q)
+      .def_readwrite("dq", &MotorCmd::dq)
+      .def_readwrite("tau", &MotorCmd::tau)
+      .def_readwrite("Kp", &MotorCmd::Kp)
+      .def_readwrite("Kd", &MotorCmd::Kd)
+      .def_readwrite("reserve", &MotorCmd::reserve);
+
+  py::class_<LowState>(m, "LowState")
+      .def(py::init<>())
+      .def_readwrite("head", &LowState::head)
+      .def_readwrite("levelFlag", &LowState::levelFlag)
+      .def_readwrite("frameReserve", &LowState::frameReserve)
+      .def_readwrite("SN", &LowState::SN)
+      .def_readwrite("version", &LowState::version)
+      .def_readwrite("bandWidth", &LowState::bandWidth)
+      .def_readwrite("imu", &LowState::imu)
+      .def_readwrite("motorState", &LowState::motorState)
+      .def_readwrite("bms", &LowState::bms)
+      .def_readwrite("footForce", &LowState::footForce)
+      .def_readwrite("footForceEst", &LowState::footForceEst)
+      .def_readwrite("tick", &LowState::tick)
+      .def_readwrite("wirelessRemote", &LowState::wirelessRemote)
+      .def_readwrite("reserve", &LowState::reserve)
+      .def_readwrite("crc", &LowState::crc);
+
+  py::class_<LowCmd>(m, "LowCmd")
+      .def(py::init<>())
+      .def_readwrite("head", &LowCmd::head)
+      .def_readwrite("levelFlag", &LowCmd::levelFlag)
+      .def_readwrite("frameReserve", &LowCmd::frameReserve)
+      .def_readwrite("SN", &LowCmd::SN)
+      .def_readwrite("version", &LowCmd::version)
+      .def_readwrite("bandWidth", &LowCmd::bandWidth)
+      .def_readwrite("motorCmd", &LowCmd::motorCmd)
+      .def_readwrite("bms", &LowCmd::bms)
+      .def_readwrite("wirelessRemote", &LowCmd::wirelessRemote)
+      .def_readwrite("reserve", &LowCmd::reserve)
+      .def_readwrite("crc", &LowCmd::crc);
+
+  py::class_<HighState>(m, "HighState")
+      .def(py::init<>())
+      .def_readwrite("head", &HighState::head)
+      .def_readwrite("levelFlag", &HighState::levelFlag)
+      .def_readwrite("frameReserve", &HighState::frameReserve)
+      .def_readwrite("SN", &HighState::SN)
+      .def_readwrite("version", &HighState::version)
+      .def_readwrite("bandWidth", &HighState::bandWidth)
+      .def_readwrite("imu", &HighState::imu)
+      .def_readwrite("motorState", &HighState::motorState)
+      .def_readwrite("bms", &HighState::bms)
+      .def_readwrite("footForce", &HighState::footForce)
+      .def_readwrite("footForceEst", &HighState::footForceEst)
+      .def_readwrite("mode", &HighState::mode)
+      .def_readwrite("progress", &HighState::progress)
+      .def_readwrite("gaitType", &HighState::gaitType)
+      .def_readwrite("footRaiseHeight", &HighState::footRaiseHeight)
+      .def_readwrite("position", &HighState::position)
+      .def_readwrite("bodyHeight", &HighState::bodyHeight)
+      .def_readwrite("velocity", &HighState::velocity)
+      .def_readwrite("yawSpeed", &HighState::yawSpeed)
+      .def_readwrite("rangeObstacle", &HighState::rangeObstacle)
+      .def_readwrite("footPosition2Body", &HighState::footPosition2Body)
+      .def_readwrite("footSpeed2Body", &HighState::footSpeed2Body)
+      .def_readwrite("wirelessRemote", &HighState::wirelessRemote)
+      .def_readwrite("reserve", &HighState::reserve)
+      .def_readwrite("crc", &HighState::crc);
+
+  py::class_<HighCmd>(m, "HighCmd")
+      .def(py::init<>())
+      .def_readwrite("head", &HighCmd::head)
+      .def_readwrite("levelFlag", &HighCmd::levelFlag)
+      .def_readwrite("frameReserve", &HighCmd::frameReserve)
+      .def_readwrite("SN", &HighCmd::SN)
+      .def_readwrite("version", &HighCmd::version)
+      .def_readwrite("bandWidth", &HighCmd::bandWidth)
+      .def_readwrite("mode", &HighCmd::mode)
+      .def_readwrite("gaitType", &HighCmd::gaitType)
+      .def_readwrite("speedLevel", &HighCmd::speedLevel)
+      .def_readwrite("footRaiseHeight", &HighCmd::footRaiseHeight)
+      .def_readwrite("bodyHeight", &HighCmd::bodyHeight)
+      .def_readwrite("position", &HighCmd::position)
+      .def_readwrite("euler", &HighCmd::euler)
+      .def_readwrite("velocity", &HighCmd::velocity)
+      .def_readwrite("yawSpeed", &HighCmd::yawSpeed)
+      .def_readwrite("bms", &HighCmd::bms)
+      .def_readwrite("led", &HighCmd::led)
+      .def_readwrite("wirelessRemote", &HighCmd::wirelessRemote)
+      .def_readwrite("reserve", &HighCmd::reserve)
+      .def_readwrite("crc", &HighCmd::crc);
+
+  py::class_<UDPState>(m, "UDPState")
+      .def(py::init<>())
+      .def_readwrite("TotalCount", &UDPState::TotalCount)
+      .def_readwrite("SendCount", &UDPState::SendCount)
+      .def_readwrite("RecvCount", &UDPState::RecvCount)
+      .def_readwrite("SendError", &UDPState::SendError)
+      .def_readwrite("FlagError", &UDPState::FlagError)
+      .def_readwrite("RecvCRCError", &UDPState::RecvCRCError)
+      .def_readwrite("RecvLoseError", &UDPState::RecvLoseError);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.appveyor.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.appveyor.yml
new file mode 100644
index 0000000..149a8a3
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.appveyor.yml
@@ -0,0 +1,37 @@
+version: 1.0.{build}
+image:
+- Visual Studio 2015
+test: off
+skip_branch_with_pr: true
+build:
+  parallel: true
+platform:
+- x86
+environment:
+  matrix:
+  - PYTHON: 36
+    CONFIG: Debug
+  - PYTHON: 27
+    CONFIG: Debug
+install:
+- ps: |
+    $env:CMAKE_GENERATOR = "Visual Studio 14 2015"
+    if ($env:PLATFORM -eq "x64") { $env:PYTHON = "$env:PYTHON-x64" }
+    $env:PATH = "C:\Python$env:PYTHON\;C:\Python$env:PYTHON\Scripts\;$env:PATH"
+    python -W ignore -m pip install --upgrade pip wheel
+    python -W ignore -m pip install pytest numpy --no-warn-script-location
+- ps: |
+    Start-FileDownload 'https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip'
+    7z x eigen-3.3.7.zip -y > $null
+    $env:CMAKE_INCLUDE_PATH = "eigen-3.3.7;$env:CMAKE_INCLUDE_PATH"
+build_script:
+- cmake -G "%CMAKE_GENERATOR%" -A "%CMAKE_ARCH%"
+    -DCMAKE_CXX_STANDARD=14
+    -DPYBIND11_WERROR=ON
+    -DDOWNLOAD_CATCH=ON
+    -DCMAKE_SUPPRESS_REGENERATION=1
+    .
+- set MSBuildLogger="C:\Program Files\AppVeyor\BuildAgent\Appveyor.MSBuildLogger.dll"
+- cmake --build . --config %CONFIG% --target pytest -- /m /v:m /logger:%MSBuildLogger%
+- cmake --build . --config %CONFIG% --target cpptest -- /m /v:m /logger:%MSBuildLogger%
+on_failure: if exist "tests\test_cmake_build" type tests\test_cmake_build\*.log*
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.clang-tidy b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.clang-tidy
new file mode 100644
index 0000000..e29d929
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.clang-tidy
@@ -0,0 +1,13 @@
+FormatStyle: file
+
+Checks: '
+llvm-namespace-comment,
+modernize-use-override,
+readability-container-size-empty,
+modernize-use-using,
+modernize-use-equals-default,
+modernize-use-auto,
+modernize-use-emplace,
+'
+
+HeaderFilterRegex: 'pybind11/.*h'
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.cmake-format.yaml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.cmake-format.yaml
new file mode 100644
index 0000000..a2a69f3
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.cmake-format.yaml
@@ -0,0 +1,73 @@
+parse:
+  additional_commands:
+    pybind11_add_module:
+      flags:
+        - THIN_LTO
+        - MODULE
+        - SHARED
+        - NO_EXTRAS
+        - EXCLUDE_FROM_ALL
+        - SYSTEM
+
+format:
+  line_width: 99
+  tab_size: 2
+
+  # If an argument group contains more than this many sub-groups
+  # (parg or kwarg groups) then force it to a vertical layout.
+  max_subgroups_hwrap: 2
+
+  # If a positional argument group contains more than this many
+  # arguments, then force it to a vertical layout.
+  max_pargs_hwrap: 6
+
+  # If a cmdline positional group consumes more than this many
+  # lines without nesting, then invalidate the layout (and nest)
+  max_rows_cmdline: 2
+  separate_ctrl_name_with_space: false
+  separate_fn_name_with_space: false
+  dangle_parens: false
+
+  # If the trailing parenthesis must be 'dangled' on its on
+  # 'line, then align it to this reference: `prefix`: the start'
+  # 'of the statement,  `prefix-indent`: the start of the'
+  # 'statement, plus one indentation  level, `child`: align to'
+  # the column of the arguments
+  dangle_align: prefix
+  # If the statement spelling length (including space and
+  # parenthesis) is smaller than this amount, then force reject
+  # nested layouts.
+  min_prefix_chars: 4
+
+  # If the statement spelling length (including space and
+  # parenthesis) is larger than the tab width by more than this
+  # amount, then force reject un-nested layouts.
+  max_prefix_chars: 10
+
+  # If a candidate layout is wrapped horizontally but it exceeds
+  # this many lines, then reject the layout.
+  max_lines_hwrap: 2
+
+  line_ending: unix
+
+  # Format command names consistently as 'lower' or 'upper' case
+  command_case: canonical
+
+  # Format keywords consistently as 'lower' or 'upper' case
+  # unchanged is valid too
+  keyword_case: 'upper'
+
+  # A list of command names which should always be wrapped
+  always_wrap: []
+
+  # If true, the argument lists which are known to be sortable
+  # will be sorted lexicographically
+  enable_sort: true
+
+  # If true, the parsers may infer whether or not an argument
+  # list is sortable (without annotation).
+  autosort: false
+
+# Causes a few issues - can be solved later, possibly.
+markup:
+  enable_markup: false
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/CONTRIBUTING.md b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/CONTRIBUTING.md
new file mode 100644
index 0000000..4ced21b
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/CONTRIBUTING.md
@@ -0,0 +1,319 @@
+Thank you for your interest in this project! Please refer to the following
+sections on how to contribute code and bug reports.
+
+### Reporting bugs
+
+Before submitting a question or bug report, please take a moment of your time
+and ensure that your issue isn't already discussed in the project documentation
+provided at [pybind11.readthedocs.org][] or in the [issue tracker][]. You can
+also check [gitter][] to see if it came up before.
+
+Assuming that you have identified a previously unknown problem or an important
+question, it's essential that you submit a self-contained and minimal piece of
+code that reproduces the problem. In other words: no external dependencies,
+isolate the function(s) that cause breakage, submit matched and complete C++
+and Python snippets that can be easily compiled and run in isolation; or
+ideally make a small PR with a failing test case that can be used as a starting
+point.
+
+## Pull requests
+
+Contributions are submitted, reviewed, and accepted using GitHub pull requests.
+Please refer to [this article][using pull requests] for details and adhere to
+the following rules to make the process as smooth as possible:
+
+* Make a new branch for every feature you're working on.
+* Make small and clean pull requests that are easy to review but make sure they
+  do add value by themselves.
+* Add tests for any new functionality and run the test suite (`cmake --build
+  build --target pytest`) to ensure that no existing features break.
+* Please run [`pre-commit`][pre-commit] to check your code matches the
+  project style. (Note that `gawk` is required.) Use `pre-commit run
+  --all-files` before committing (or use installed-mode, check pre-commit docs)
+  to verify your code passes before pushing to save time.
+* This project has a strong focus on providing general solutions using a
+  minimal amount of code, thus small pull requests are greatly preferred.
+
+### Licensing of contributions
+
+pybind11 is provided under a BSD-style license that can be found in the
+``LICENSE`` file. By using, distributing, or contributing to this project, you
+agree to the terms and conditions of this license.
+
+You are under no obligation whatsoever to provide any bug fixes, patches, or
+upgrades to the features, functionality or performance of the source code
+("Enhancements") to anyone; however, if you choose to make your Enhancements
+available either publicly, or directly to the author of this software, without
+imposing a separate written license agreement for such Enhancements, then you
+hereby grant the following license: a non-exclusive, royalty-free perpetual
+license to install, use, modify, prepare derivative works, incorporate into
+other computer software, distribute, and sublicense such enhancements or
+derivative works thereof, in binary and source code form.
+
+
+## Development of pybind11
+
+To setup an ideal development environment, run the following commands on a
+system with CMake 3.14+:
+
+```bash
+python3 -m venv venv
+source venv/bin/activate
+pip install -r tests/requirements.txt
+cmake -S . -B build -DDOWNLOAD_CATCH=ON -DDOWNLOAD_EIGEN=ON
+cmake --build build -j4
+```
+
+Tips:
+
+* You can use `virtualenv` (from PyPI) instead of `venv` (which is Python 3
+  only).
+* You can select any name for your environment folder; if it contains "env" it
+  will be ignored by git.
+* If you don’t have CMake 3.14+, just add “cmake” to the pip install command.
+* You can use `-DPYBIND11_FINDPYTHON=ON` to use FindPython on CMake 3.12+
+* In classic mode, you may need to set `-DPYTHON_EXECUTABLE=/path/to/python`.
+  FindPython uses `-DPython_ROOT_DIR=/path/to` or
+  `-DPython_EXECUTABLE=/path/to/python`.
+
+### Configuration options
+
+In CMake, configuration options are given with “-D”. Options are stored in the
+build directory, in the `CMakeCache.txt` file, so they are remembered for each
+build directory. Two selections are special - the generator, given with `-G`,
+and the compiler, which is selected based on environment variables `CXX` and
+similar, or `-DCMAKE_CXX_COMPILER=`. Unlike the others, these cannot be changed
+after the initial run.
+
+The valid options are:
+
+* `-DCMAKE_BUILD_TYPE`: Release, Debug, MinSizeRel, RelWithDebInfo
+* `-DPYBIND11_FINDPYTHON=ON`: Use CMake 3.12+’s FindPython instead of the
+  classic, deprecated, custom FindPythonLibs
+* `-DPYBIND11_NOPYTHON=ON`: Disable all Python searching (disables tests)
+* `-DBUILD_TESTING=ON`: Enable the tests
+* `-DDOWNLOAD_CATCH=ON`: Download catch to build the C++ tests
+* `-DOWNLOAD_EIGEN=ON`: Download Eigen for the NumPy tests
+* `-DPYBIND11_INSTALL=ON/OFF`: Enable the install target (on by default for the
+  master project)
+* `-DUSE_PYTHON_INSTALL_DIR=ON`: Try to install into the python dir
+
+
+<details><summary>A few standard CMake tricks: (click to expand)</summary><p>
+
+* Use `cmake --build build -v` to see the commands used to build the files.
+* Use `cmake build -LH` to list the CMake options with help.
+* Use `ccmake` if available to see a curses (terminal) gui, or `cmake-gui` for
+  a completely graphical interface (not present in the PyPI package).
+* Use `cmake --build build -j12` to build with 12 cores (for example).
+* Use `-G` and the name of a generator to use something different. `cmake
+  --help` lists the generators available.
+      - On Unix, setting `CMAKE_GENERATER=Ninja` in your environment will give
+        you automatic mulithreading on all your CMake projects!
+* Open the `CMakeLists.txt` with QtCreator to generate for that IDE.
+* You can use `-DCMAKE_EXPORT_COMPILE_COMMANDS=ON` to generate the `.json` file
+  that some tools expect.
+
+</p></details>
+
+
+To run the tests, you can "build" the check target:
+
+```bash
+cmake --build build --target check
+```
+
+`--target` can be spelled `-t` in CMake 3.15+. You can also run individual
+tests with these targets:
+
+* `pytest`: Python tests only
+* `cpptest`: C++ tests only
+* `test_cmake_build`: Install / subdirectory tests
+
+If you want to build just a subset of tests, use
+`-DPYBIND11_TEST_OVERRIDE="test_callbacks.cpp;test_pickling.cpp"`. If this is
+empty, all tests will be built.
+
+### Formatting
+
+All formatting is handled by pre-commit.
+
+Install with brew (macOS) or pip (any OS):
+
+```bash
+# Any OS
+python3 -m pip install pre-commit
+
+# OR macOS with homebrew:
+brew install pre-commit
+```
+
+Then, you can run it on the items you've added to your staging area, or all
+files:
+
+```bash
+pre-commit run
+# OR
+pre-commit run --all-files
+```
+
+And, if you want to always use it, you can install it as a git hook (hence the
+name, pre-commit):
+
+```bash
+pre-commit install
+```
+
+### Clang-Tidy
+
+To run Clang tidy, the following recipe should work. Files will be modified in
+place, so you can use git to monitor the changes.
+
+```bash
+docker run --rm -v $PWD:/pybind11 -it silkeh/clang:10
+apt-get update && apt-get install python3-dev python3-pytest
+cmake -S pybind11/ -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);-fix"
+cmake --build build
+```
+
+### Include what you use
+
+To run include what you use, install (`brew install include-what-you-use` on
+macOS), then run:
+
+```bash
+cmake -S . -B build-iwyu -DCMAKE_CXX_INCLUDE_WHAT_YOU_USE=$(which include-what-you-use)
+cmake --build build
+```
+
+The report is sent to stderr; you can pip it into a file if you wish.
+
+### Build recipes
+
+This builds with the Intel compiler (assuming it is in your path, along with a
+recent CMake and Python 3):
+
+```bash
+python3 -m venv venv
+. venv/bin/activate
+pip install pytest
+cmake -S . -B build-intel -DCMAKE_CXX_COMPILER=$(which icpc) -DDOWNLOAD_CATCH=ON -DDOWNLOAD_EIGEN=ON -DPYBIND11_WERROR=ON
+```
+
+This will test the PGI compilers:
+
+```bash
+docker run --rm -it -v $PWD:/pybind11 nvcr.io/hpc/pgi-compilers:ce
+apt-get update && apt-get install -y python3-dev python3-pip python3-pytest
+wget -qO- "https://cmake.org/files/v3.18/cmake-3.18.2-Linux-x86_64.tar.gz" | tar --strip-components=1 -xz -C /usr/local
+cmake -S pybind11/ -B build
+cmake --build build
+```
+
+### Explanation of the SDist/wheel building design
+
+> These details below are _only_ for packaging the Python sources from git. The
+> SDists and wheels created do not have any extra requirements at all and are
+> completely normal.
+
+The main objective of the packaging system is to create SDists (Python's source
+distribution packages) and wheels (Python's binary distribution packages) that
+include everything that is needed to work with pybind11, and which can be
+installed without any additional dependencies. This is more complex than it
+appears: in order to support CMake as a first class language even when using
+the PyPI package, they must include the _generated_ CMake files (so as not to
+require CMake when installing the `pybind11` package itself). They should also
+provide the option to install to the "standard" location
+(`<ENVROOT>/include/pybind11` and `<ENVROOT>/share/cmake/pybind11`) so they are
+easy to find with CMake, but this can cause problems if you are not an
+environment or using ``pyproject.toml`` requirements. This was solved by having
+two packages; the "nice" pybind11 package that stores the includes and CMake
+files inside the package, that you get access to via functions in the package,
+and a `pybind11-global` package that can be included via `pybind11[global]` if
+you want the more invasive but discoverable file locations.
+
+If you want to install or package the GitHub source, it is best to have Pip 10
+or newer on Windows, macOS, or Linux (manylinux1 compatible, includes most
+distributions).  You can then build the SDists, or run any procedure that makes
+SDists internally, like making wheels or installing.
+
+
+```bash
+# Editable development install example
+python3 -m pip install -e .
+```
+
+Since Pip itself does not have an `sdist` command (it does have `wheel` and
+`install`), you may want to use the upcoming `build` package:
+
+```bash
+python3 -m pip install build
+
+# Normal package
+python3 -m build -s .
+
+# Global extra
+PYBIND11_GLOBAL_SDIST=1 python3 -m build -s .
+```
+
+If you want to use the classic "direct" usage of `python setup.py`, you will
+need CMake 3.15+ and either `make` or `ninja` preinstalled (possibly via `pip
+install cmake ninja`), since directly running Python on `setup.py` cannot pick
+up and install `pyproject.toml` requirements. As long as you have those two
+things, though, everything works the way you would expect:
+
+```bash
+# Normal package
+python3 setup.py sdist
+
+# Global extra
+PYBIND11_GLOBAL_SDIST=1 python3 setup.py sdist
+```
+
+A detailed explanation of the build procedure design for developers wanting to
+work on or maintain the packaging system is as follows:
+
+#### 1. Building from the source directory
+
+When you invoke any `setup.py` command from the source directory, including
+`pip wheel .` and `pip install .`, you will activate a full source build. This
+is made of the following steps:
+
+1. If the tool is PEP 518 compliant, like Pip 10+, it will create a temporary
+   virtual environment and install the build requirements (mostly CMake) into
+   it. (if you are not on Windows, macOS, or a manylinux compliant system, you
+   can disable this with `--no-build-isolation` as long as you have CMake 3.15+
+   installed)
+2. The environment variable `PYBIND11_GLOBAL_SDIST` is checked - if it is set
+   and truthy, this will be make the accessory `pybind11-global` package,
+   instead of the normal `pybind11` package. This package is used for
+   installing the files directly to your environment root directory, using
+   `pybind11[global]`.
+2. `setup.py` reads the version from `pybind11/_version.py` and verifies it
+   matches `includes/pybind11/detail/common.h`.
+3. CMake is run with `-DCMAKE_INSTALL_PREIFX=pybind11`. Since the CMake install
+   procedure uses only relative paths and is identical on all platforms, these
+   files are valid as long as they stay in the correct relative position to the
+   includes. `pybind11/share/cmake/pybind11` has the CMake files, and
+   `pybind11/include` has the includes. The build directory is discarded.
+4. Simpler files are placed in the SDist: `tools/setup_*.py.in`,
+   `tools/pyproject.toml` (`main` or `global`)
+5. The package is created by running the setup function in the
+   `tools/setup_*.py`.  `setup_main.py` fills in Python packages, and
+   `setup_global.py` fills in only the data/header slots.
+6. A context manager cleans up the temporary CMake install directory (even if
+   an error is thrown).
+
+### 2. Building from SDist
+
+Since the SDist has the rendered template files in `tools` along with the
+includes and CMake files in the correct locations, the builds are completely
+trivial and simple. No extra requirements are required. You can even use Pip 9
+if you really want to.
+
+
+[pre-commit]: https://pre-commit.com
+[pybind11.readthedocs.org]: http://pybind11.readthedocs.org/en/latest
+[issue tracker]: https://github.com/pybind/pybind11/issues
+[gitter]: https://gitter.im/pybind/Lobby
+[using pull requests]: https://help.github.com/articles/using-pull-requests
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/bug-report.md b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/bug-report.md
new file mode 100644
index 0000000..ae36ea6
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/bug-report.md
@@ -0,0 +1,28 @@
+---
+name: Bug Report
+about: File an issue about a bug
+title: "[BUG] "
+---
+
+
+Make sure you've completed the following steps before submitting your issue -- thank you!
+
+1. Make sure you've read the [documentation][]. Your issue may be addressed there.
+2. Search the [issue tracker][] to verify that this hasn't already been reported. +1 or comment there if it has.
+3. Consider asking first in the [Gitter chat room][].
+4. Include a self-contained and minimal piece of code that reproduces the problem. If that's not possible, try to make the description as clear as possible.
+    a. If possible, make a PR with a new, failing test to give us a starting point to work on!
+
+[documentation]: https://pybind11.readthedocs.io
+[issue tracker]: https://github.com/pybind/pybind11/issues
+[Gitter chat room]: https://gitter.im/pybind/Lobby
+
+*After reading, remove this checklist and the template text in parentheses below.*
+
+## Issue description
+
+(Provide a short description, state the expected behavior and what actually happens.)
+
+## Reproducible example code
+
+(The code should be minimal, have no external dependencies, isolate the function(s) that cause breakage. Submit matched and complete C++ and Python snippets that can be easily compiled and run to diagnose the issue.)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/config.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/config.yml
new file mode 100644
index 0000000..20e7431
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/config.yml
@@ -0,0 +1,5 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Gitter room
+    url: https://gitter.im/pybind/Lobby
+    about: A room for discussing pybind11 with an active community
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/feature-request.md b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/feature-request.md
new file mode 100644
index 0000000..5f6ec81
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/feature-request.md
@@ -0,0 +1,16 @@
+---
+name: Feature Request
+about: File an issue about adding a feature
+title: "[FEAT] "
+---
+
+
+Make sure you've completed the following steps before submitting your issue -- thank you!
+
+1. Check if your feature has already been mentioned / rejected / planned in other issues.
+2. If those resources didn't help, consider asking in the [Gitter chat room][] to see if this is interesting / useful to a larger audience and possible to implement reasonably,
+4. If you have a useful feature that passes the previous items (or not suitable for chat), please fill in the details below.
+
+[Gitter chat room]: https://gitter.im/pybind/Lobby
+
+*After reading, remove this checklist.*
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/question.md b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/question.md
new file mode 100644
index 0000000..b199b6e
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/ISSUE_TEMPLATE/question.md
@@ -0,0 +1,21 @@
+---
+name: Question
+about: File an issue about unexplained behavior
+title: "[QUESTION] "
+---
+
+If you have a question, please check the following first:
+
+1. Check if your question has already been answered in the [FAQ][] section.
+2. Make sure you've read the [documentation][]. Your issue may be addressed there.
+3. If those resources didn't help and you only have a short question (not a bug report), consider asking in the [Gitter chat room][]
+4. Search the [issue tracker][], including the closed issues, to see if your question has already been asked/answered. +1 or comment if it has been asked but has no answer.
+5. If you have a more complex question which is not answered in the previous items (or not suitable for chat), please fill in the details below.
+6. Include a self-contained and minimal piece of code that illustrates your question. If that's not possible, try to make the description as clear as possible.
+
+[FAQ]: http://pybind11.readthedocs.io/en/latest/faq.html
+[documentation]: https://pybind11.readthedocs.io
+[issue tracker]: https://github.com/pybind/pybind11/issues
+[Gitter chat room]: https://gitter.im/pybind/Lobby
+
+*After reading, remove this checklist.*
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/labeler.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/labeler.yml
new file mode 100644
index 0000000..01c3bac
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/labeler.yml
@@ -0,0 +1,14 @@
+needs changelog:
+- all:
+  - '!docs/changelog.rst'
+  any:
+  - 'include/pybind11/**/*|pybind11/**/*|tools/**/*|CMakeLists.txt'
+
+docs:
+- any:
+  - 'docs/**/*.rst'
+  - '!docs/changelog.rst'
+  - '!docs/upgrade.rst'
+
+ci:
+- '.github/workflows/*.yaml'
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/ci.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/ci.yml
new file mode 100644
index 0000000..59466c0
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/ci.yml
@@ -0,0 +1,522 @@
+name: CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+      - stable
+      - v*
+
+jobs:
+  # This is the "main" test suite, which tests a large number of different
+  # versions of default compilers and Python versions in GitHub Actions.
+  standard:
+    strategy:
+      fail-fast: false
+      matrix:
+        runs-on: [ubuntu-latest, windows-latest, macos-latest]
+        arch: [x64]
+        python:
+        - 2.7
+        - 3.5
+        - 3.8
+        - 3.9
+        - pypy2
+        - pypy3
+
+        # Items in here will either be added to the build matrix (if not
+        # present), or add new keys to an existing matrix element if all the
+        # existing keys match.
+        #
+        # We support three optional keys: args (both build), args1 (first
+        # build), and args2 (second build).
+        include:
+          # Just add a key
+          - runs-on: ubuntu-latest
+            python: 3.6
+            arch: x64
+            args: >
+              -DPYBIND11_FINDPYTHON=ON
+          - runs-on: windows-latest
+            python: 3.6
+            arch: x64
+            args: >
+              -DPYBIND11_FINDPYTHON=ON
+          - runs-on: ubuntu-latest
+            python: 3.8
+            arch: x64
+            args: >
+              -DPYBIND11_FINDPYTHON=ON
+
+          # New runs
+          - runs-on: windows-2016
+            python: 3.7
+            arch: x86
+            args2: >
+              -DCMAKE_CXX_FLAGS="/permissive- /EHsc /GR"
+          - runs-on: windows-latest
+            python: 3.7
+            arch: x64
+
+        # These items will be removed from the build matrix, keys must match.
+        exclude:
+            # Currently 32bit only, and we build 64bit
+          - runs-on: windows-latest
+            python: pypy2
+            arch: x64
+          - runs-on: windows-latest
+            python: pypy3
+            arch: x64
+
+            # TODO: renable
+            # Currently segfaults on macOS Python 3.9
+          - runs-on: macos-latest
+            python: 3.9
+            arch: x64
+
+    name: "🐍 ${{ matrix.python }} • ${{ matrix.runs-on }} • ${{ matrix.arch }} ${{ matrix.args }}"
+    runs-on: ${{ matrix.runs-on }}
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Setup Python ${{ matrix.python }}
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python }}
+        architecture: ${{ matrix.arch }}
+
+    - name: Setup Boost (Windows / Linux latest)
+      shell: bash
+      run: echo "BOOST_ROOT=$BOOST_ROOT_1_72_0" >> $GITHUB_ENV
+
+    - name: Update CMake
+      uses: jwlawson/actions-setup-cmake@v1.4
+
+    - name: Cache wheels
+      if: runner.os == 'macOS'
+      uses: actions/cache@v2
+      with:
+        # This path is specific to macOS - we really only need it for PyPy NumPy wheels
+        # See https://github.com/actions/cache/blob/master/examples.md#python---pip
+        # for ways to do this more generally
+        path: ~/Library/Caches/pip
+        # Look to see if there is a cache hit for the corresponding requirements file
+        key: ${{ runner.os }}-pip-${{ matrix.python }}-${{ matrix.arch }}-${{ hashFiles('tests/requirements.txt') }}
+
+    - name: Prepare env
+      run: python -m pip install -r tests/requirements.txt --prefer-binary
+
+    - name: Setup annotations on Linux
+      if: runner.os == 'Linux'
+      run: python -m pip install pytest-github-actions-annotate-failures
+
+    # First build - C++11 mode and inplace
+    - name: Configure C++11 ${{ matrix.args }}
+      run: >
+        cmake -S . -B .
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DDOWNLOAD_EIGEN=ON
+        -DCMAKE_CXX_STANDARD=11
+        ${{ matrix.args }}
+
+    - name: Build C++11
+      run: cmake --build . -j 2
+
+    - name: Python tests C++11
+      run: cmake --build . --target pytest -j 2
+
+    - name: C++11 tests
+      # TODO: Figure out how to load the DLL on Python 3.8+
+      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9))"
+      run: cmake --build .  --target cpptest -j 2
+
+    - name: Interface test C++11
+      run: cmake --build . --target test_cmake_build
+
+    - name: Clean directory
+      run: git clean -fdx
+
+    # Second build - C++17 mode and in a build directory
+    - name: Configure ${{ matrix.args2 }}
+      run: >
+        cmake -S . -B build2
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DDOWNLOAD_EIGEN=ON
+        -DCMAKE_CXX_STANDARD=17
+        ${{ matrix.args }}
+        ${{ matrix.args2 }}
+
+    - name: Build
+      run: cmake --build build2 -j 2
+
+    - name: Python tests
+      run: cmake --build build2 --target pytest
+
+    - name: C++ tests
+      # TODO: Figure out how to load the DLL on Python 3.8+
+      if: "!(runner.os == 'Windows' && (matrix.python == 3.8 || matrix.python == 3.9))"
+      run: cmake --build build2 --target cpptest
+
+    - name: Interface test
+      run: cmake --build build2 --target test_cmake_build
+
+    # Eventually Microsoft might have an action for setting up
+    # MSVC, but for now, this action works:
+    - name: Prepare compiler environment for Windows 🐍 2.7
+      if: matrix.python == 2.7 && runner.os == 'Windows'
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: x64
+
+    # This makes two environment variables available in the following step(s)
+    - name: Set Windows 🐍 2.7 environment variables
+      if: matrix.python == 2.7 && runner.os == 'Windows'
+      shell: bash
+      run: |
+        echo "DISTUTILS_USE_SDK=1" >> $GITHUB_ENV
+        echo "MSSdk=1" >> $GITHUB_ENV
+
+    # This makes sure the setup_helpers module can build packages using
+    # setuptools
+    - name: Setuptools helpers test
+      run: pytest tests/extra_setuptools
+
+
+  # Testing on clang using the excellent silkeh clang docker images
+  clang:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        clang:
+          - 3.6
+          - 3.7
+          - 3.9
+          - 5
+          - 7
+          - 10
+          - dev
+
+    name: "🐍 3 • Clang ${{ matrix.clang }} • x64"
+    container: "silkeh/clang:${{ matrix.clang }}"
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Add wget and python3
+      run: apt-get update && apt-get install -y python3-dev python3-numpy python3-pytest libeigen3-dev
+
+    - name: Configure
+      shell: bash
+      run: >
+        cmake -S . -B build
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+
+    - name: Build
+      run: cmake --build build -j 2
+
+    - name: Python tests
+      run: cmake --build build --target pytest
+
+    - name: C++ tests
+      run: cmake --build build --target cpptest
+
+    - name: Interface test
+      run: cmake --build build --target test_cmake_build
+
+
+  # Testing NVCC; forces sources to behave like .cu files
+  cuda:
+    runs-on: ubuntu-latest
+    name: "🐍 3.8 • CUDA 11 • Ubuntu 20.04"
+    container: nvidia/cuda:11.0-devel-ubuntu20.04
+
+    steps:
+    - uses: actions/checkout@v2
+
+    # tzdata will try to ask for the timezone, so set the DEBIAN_FRONTEND
+    - name: Install 🐍 3
+      run: apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get install -y cmake git python3-dev python3-pytest python3-numpy
+
+    - name: Configure
+      run: cmake -S . -B build -DPYBIND11_CUDA_TESTS=ON -DPYBIND11_WERROR=ON -DDOWNLOAD_CATCH=ON
+
+    - name: Build
+      run: cmake --build build -j2 --verbose
+
+    - name: Python tests
+      run: cmake --build build --target pytest
+
+
+  # Testing CentOS 8 + PGI compilers
+  centos-nvhpc8:
+    runs-on: ubuntu-latest
+    name: "🐍 3 • CentOS8 / PGI 20.7 • x64"
+    container: centos:8
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Add Python 3 and a few requirements
+      run: yum update -y && yum install -y git python3-devel python3-numpy python3-pytest make environment-modules
+
+    - name: Install CMake with pip
+      run: |
+        python3 -m pip install --upgrade pip
+        python3 -m pip install cmake --prefer-binary
+
+    - name: Install NVidia HPC SDK
+      run: yum -y install https://developer.download.nvidia.com/hpc-sdk/nvhpc-20-7-20.7-1.x86_64.rpm https://developer.download.nvidia.com/hpc-sdk/nvhpc-2020-20.7-1.x86_64.rpm
+
+    - name: Configure
+      shell: bash
+      run: |
+        source /etc/profile.d/modules.sh
+        module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/20.7
+        cmake -S . -B build -DDOWNLOAD_CATCH=ON -DCMAKE_CXX_STANDARD=14 -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+
+    - name: Build
+      run: cmake --build build -j 2 --verbose
+
+    - name: Python tests
+      run: cmake --build build --target pytest
+
+    - name: C++ tests
+      run: cmake --build build --target cpptest
+
+    - name: Interface test
+      run: cmake --build build --target test_cmake_build
+
+
+  # Testing on CentOS 7 + PGI compilers, which seems to require more workarounds
+  centos-nvhpc7:
+    runs-on: ubuntu-latest
+    name: "🐍 3 • CentOS7 / PGI 20.9 • x64"
+    container: centos:7
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Add Python 3 and a few requirements
+      run: yum update -y && yum install -y epel-release && yum install -y git python3-devel make environment-modules cmake3
+
+    - name: Install NVidia HPC SDK
+      run:  yum -y install https://developer.download.nvidia.com/hpc-sdk/20.9/nvhpc-20-9-20.9-1.x86_64.rpm https://developer.download.nvidia.com/hpc-sdk/20.9/nvhpc-2020-20.9-1.x86_64.rpm
+
+    # On CentOS 7, we have to filter a few tests (compiler internal error)
+    # and allow deeper templete recursion (not needed on CentOS 8 with a newer
+    # standard library). On some systems, you many need further workarounds:
+    # https://github.com/pybind/pybind11/pull/2475
+    - name: Configure
+      shell: bash
+      run: |
+        source /etc/profile.d/modules.sh
+        module load /opt/nvidia/hpc_sdk/modulefiles/nvhpc/20.9
+        cmake3 -S . -B build -DDOWNLOAD_CATCH=ON \
+                            -DCMAKE_CXX_STANDARD=11 \
+                            -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") \
+                            -DCMAKE_CXX_FLAGS="-Wc,--pending_instantiations=0" \
+                            -DPYBIND11_TEST_FILTER="test_smart_ptr.cpp;test_virtual_functions.cpp"
+
+    # Building before installing Pip should produce a warning but not an error
+    - name: Build
+      run: cmake3 --build build -j 2 --verbose
+
+    - name: Install CMake with pip
+      run: |
+        python3 -m pip install --upgrade pip
+        python3 -m pip install pytest
+
+    - name: Python tests
+      run: cmake3 --build build --target pytest
+
+    - name: C++ tests
+      run: cmake3 --build build --target cpptest
+
+    - name: Interface test
+      run: cmake3 --build build --target test_cmake_build
+
+  # Testing on GCC using the GCC docker images (only recent images supported)
+  gcc:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        gcc:
+          - 7
+          - latest
+
+    name: "🐍 3 • GCC ${{ matrix.gcc }} • x64"
+    container: "gcc:${{ matrix.gcc }}"
+
+    steps:
+    - uses: actions/checkout@v1
+
+    - name: Add Python 3
+      run: apt-get update; apt-get install -y python3-dev python3-numpy python3-pytest python3-pip libeigen3-dev
+
+    - name: Update pip
+      run: python3 -m pip install --upgrade pip
+
+    - name: Setup CMake 3.18
+      uses: jwlawson/actions-setup-cmake@v1.4
+      with:
+        cmake-version: 3.18
+
+    - name: Configure
+      shell: bash
+      run: >
+        cmake -S . -B build
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DCMAKE_CXX_STANDARD=11
+        -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+
+    - name: Build
+      run: cmake --build build -j 2
+
+    - name: Python tests
+      run: cmake --build build --target pytest
+
+    - name: C++ tests
+      run: cmake --build build --target cpptest
+
+    - name: Interface test
+      run: cmake --build build --target test_cmake_build
+
+
+  # Testing on CentOS (manylinux uses a centos base, and this is an easy way
+  # to get GCC 4.8, which is the manylinux1 compiler).
+  centos:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        centos:
+          - 7  # GCC 4.8
+          - 8
+
+    name: "🐍 3 • CentOS ${{ matrix.centos }} • x64"
+    container: "centos:${{ matrix.centos }}"
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Add Python 3
+      run: yum update -y && yum install -y python3-devel gcc-c++ make git
+
+    - name: Update pip
+      run: python3 -m pip install --upgrade pip
+
+    - name: Install dependencies
+      run: python3 -m pip install cmake -r tests/requirements.txt --prefer-binary
+
+    - name: Configure
+      shell: bash
+      run: >
+        cmake -S . -B build
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DDOWNLOAD_EIGEN=ON
+        -DCMAKE_CXX_STANDARD=11
+        -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+
+    - name: Build
+      run: cmake --build build -j 2
+
+    - name: Python tests
+      run: cmake --build build --target pytest
+
+    - name: C++ tests
+      run: cmake --build build --target cpptest
+
+    - name: Interface test
+      run: cmake --build build --target test_cmake_build
+
+
+  # This tests an "install" with the CMake tools
+  install-classic:
+    name: "🐍 3.5 • Debian • x86 •  Install"
+    runs-on: ubuntu-latest
+    container: i386/debian:stretch
+
+    steps:
+    - uses: actions/checkout@v1
+
+    - name: Install requirements
+      run: |
+        apt-get update
+        apt-get install -y git make cmake g++ libeigen3-dev python3-dev python3-pip
+        pip3 install "pytest==3.1.*"
+
+    - name: Configure for install
+      run: >
+        cmake .
+        -DPYBIND11_INSTALL=1 -DPYBIND11_TEST=0
+        -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+
+    - name: Make and install
+      run: make install
+
+    - name: Copy tests to new directory
+      run: cp -a tests /pybind11-tests
+
+    - name: Make a new test directory
+      run: mkdir /build-tests
+
+    - name: Configure tests
+      run: >
+        cmake ../pybind11-tests
+        -DDOWNLOAD_CATCH=ON
+        -DPYBIND11_WERROR=ON
+        -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
+      working-directory: /build-tests
+
+    - name: Run tests
+      run: make pytest -j 2
+      working-directory: /build-tests
+
+
+  # This verifies that the documentation is not horribly broken, and does a
+  # basic sanity check on the SDist.
+  doxygen:
+    name: "Documentation build test"
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - uses: actions/setup-python@v2
+
+    - name: Install Doxygen
+      run: sudo apt-get install -y doxygen librsvg2-bin # Changed to rsvg-convert in 20.04
+
+    - name: Install docs & setup requirements
+      run: python3 -m pip install -r docs/requirements.txt
+
+    - name: Build docs
+      run: python3 -m sphinx -W -b html docs docs/.build
+
+    - name: Make SDist
+      run: python3 setup.py sdist
+
+    - run: git status --ignored
+
+    - name: Check local include dir
+      run: >
+        ls pybind11;
+        python3 -c "import pybind11, pathlib; assert (a := pybind11.get_include()) == (b := str(pathlib.Path('include').resolve())), f'{a} != {b}'"
+
+    - name: Compare Dists (headers only)
+      working-directory: include
+      run: |
+        python3 -m pip install --user -U ../dist/*
+        installed=$(python3 -c "import pybind11; print(pybind11.get_include() + '/pybind11')")
+        diff -rq $installed ./pybind11
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/configure.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/configure.yml
new file mode 100644
index 0000000..23f6022
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/configure.yml
@@ -0,0 +1,84 @@
+name: Config
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+      - stable
+      - v*
+
+jobs:
+  # This tests various versions of CMake in various combinations, to make sure
+  # the configure step passes.
+  cmake:
+    strategy:
+      fail-fast: false
+      matrix:
+        runs-on: [ubuntu-latest, macos-latest, windows-latest]
+        arch: [x64]
+        cmake: [3.18]
+
+        include:
+        - runs-on: ubuntu-latest
+          arch: x64
+          cmake: 3.4
+
+        - runs-on: macos-latest
+          arch: x64
+          cmake: 3.7
+
+        - runs-on: windows-2016
+          arch: x86
+          cmake: 3.8
+
+        - runs-on: windows-2016
+          arch: x86
+          cmake: 3.18
+
+    name: 🐍 3.7 • CMake ${{ matrix.cmake }} • ${{ matrix.runs-on }}
+    runs-on: ${{ matrix.runs-on }}
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Setup Python 3.7
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.7
+        architecture: ${{ matrix.arch }}
+
+    - name: Prepare env
+      run: python -m pip install -r tests/requirements.txt
+
+    # An action for adding a specific version of CMake:
+    #   https://github.com/jwlawson/actions-setup-cmake
+    - name: Setup CMake ${{ matrix.cmake }}
+      uses: jwlawson/actions-setup-cmake@v1.3
+      with:
+        cmake-version: ${{ matrix.cmake }}
+
+    # These steps use a directory with a space in it intentionally
+    - name: Make build directories
+      run: mkdir "build dir"
+
+    - name: Configure
+      working-directory: build dir
+      shell: bash
+      run: >
+        cmake ..
+        -DPYBIND11_WERROR=ON
+        -DDOWNLOAD_CATCH=ON
+        -DPYTHON_EXECUTABLE=$(python -c "import sys; print(sys.executable)")
+
+    # Only build and test if this was manually triggered in the GitHub UI
+    - name: Build
+      working-directory: build dir
+      if: github.event_name == 'workflow_dispatch'
+      run: cmake --build . --config Release
+
+    - name: Test
+      working-directory: build dir
+      if: github.event_name == 'workflow_dispatch'
+      run: cmake --build . --config Release --target check
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/format.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/format.yml
new file mode 100644
index 0000000..708a8ee
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/format.yml
@@ -0,0 +1,41 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+    - master
+    - stable
+    - "v*"
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - uses: pre-commit/action@v2.0.0
+      with:
+        # Slow hooks are marked with manual - slow is okay here, run them too
+        extra_args: --hook-stage manual --all-files
+
+  clang-tidy:
+    name: Clang-Tidy
+    runs-on: ubuntu-latest
+    container: silkeh/clang:10
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Install requirements
+      run: apt-get update && apt-get install -y python3-dev python3-pytest
+
+    - name: Configure
+      run: cmake -S . -B build -DCMAKE_CXX_CLANG_TIDY="$(which clang-tidy);--warnings-as-errors=*"
+
+    - name: Build
+      run: cmake --build build -j 2
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/labeler.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/labeler.yml
new file mode 100644
index 0000000..845b1d5
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/labeler.yml
@@ -0,0 +1,13 @@
+name: Labeler
+on:
+  pull_request_target:
+
+jobs:
+  label-merged:
+    name: Changelog needed
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/labeler@main
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        sync-labels: true
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/pip.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/pip.yml
new file mode 100644
index 0000000..4414a12
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.github/workflows/pip.yml
@@ -0,0 +1,103 @@
+name: Pip
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+    - master
+    - stable
+    - v*
+  release:
+    types:
+    - published
+
+jobs:
+  # This builds the sdists and wheels and makes sure the files are exactly as
+  # expected. Using Windows and Python 2.7, since that is often the most
+  # challenging matrix element.
+  test-packaging:
+    name: 🐍 2.7 • 📦 tests • windows-latest
+    runs-on: windows-latest
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Setup 🐍 2.7
+      uses: actions/setup-python@v2
+      with:
+        python-version: 2.7
+
+    - name: Prepare env
+      run: python -m pip install -r tests/requirements.txt --prefer-binary
+
+    - name: Python Packaging tests
+      run: pytest tests/extra_python_package/
+
+
+  # This runs the packaging tests and also builds and saves the packages as
+  # artifacts.
+  packaging:
+    name: 🐍 3.8 • 📦 & 📦 tests • ubuntu-latest
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Setup 🐍 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+
+    - name: Prepare env
+      run: python -m pip install -r tests/requirements.txt build twine --prefer-binary
+
+    - name: Python Packaging tests
+      run: pytest tests/extra_python_package/
+
+    - name: Build SDist and wheels
+      run: |
+        python -m build
+        PYBIND11_GLOBAL_SDIST=1 python -m build
+
+    - name: Check metadata
+      run: twine check dist/*
+
+    - name: Save standard package
+      uses: actions/upload-artifact@v2
+      with:
+        name: standard
+        path: dist/pybind11-*
+
+    - name: Save global package
+      uses: actions/upload-artifact@v2
+      with:
+        name: global
+        path: dist/pybind11_global-*
+
+
+
+  # When a GitHub release is made, upload the artifacts to PyPI
+  upload:
+    name: Upload to PyPI
+    runs-on: ubuntu-latest
+    if: github.event_name == 'release' && github.event.action == 'published'
+    needs: [packaging]
+
+    steps:
+    - uses: actions/setup-python@v2
+
+    # Downloads all to directories matching the artifact names
+    - uses: actions/download-artifact@v2
+
+    - name: Publish standard package
+      uses: pypa/gh-action-pypi-publish@v1.4.1
+      with:
+        password: ${{ secrets.pypi_password }}
+        packages_dir: standard/
+
+    - name: Publish global package
+      uses: pypa/gh-action-pypi-publish@v1.4.1
+      with:
+        password: ${{ secrets.pypi_password_global }}
+        packages_dir: global/
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.gitignore b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.gitignore
new file mode 100644
index 0000000..3f36b89
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.gitignore
@@ -0,0 +1,43 @@
+CMakeCache.txt
+CMakeFiles
+Makefile
+cmake_install.cmake
+cmake_uninstall.cmake
+.DS_Store
+*.so
+*.pyd
+*.dll
+*.sln
+*.sdf
+*.opensdf
+*.vcxproj
+*.vcxproj.user
+*.filters
+example.dir
+Win32
+x64
+Release
+Debug
+.vs
+CTestTestfile.cmake
+Testing
+autogen
+MANIFEST
+/.ninja_*
+/*.ninja
+/docs/.build
+*.py[co]
+*.egg-info
+*~
+.*.swp
+.DS_Store
+/dist
+/*build*
+.cache/
+sosize-*.txt
+pybind11Config*.cmake
+pybind11Targets.cmake
+/*env*
+/.vscode
+/pybind11/include/*
+/pybind11/share/*
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.pre-commit-config.yaml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.pre-commit-config.yaml
new file mode 100644
index 0000000..fae8f38
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.pre-commit-config.yaml
@@ -0,0 +1,88 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+# Standard hooks
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v3.2.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-case-conflict
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-yaml
+  - id: debug-statements
+  - id: end-of-file-fixer
+  - id: mixed-line-ending
+  - id: requirements-txt-fixer
+  - id: trailing-whitespace
+  - id: fix-encoding-pragma
+
+# Black, the code formatter, natively supports pre-commit
+- repo: https://github.com/psf/black
+  rev: 20.8b1
+  hooks:
+  - id: black
+    # Not all Python files are Blacked, yet
+    files: ^(setup.py|pybind11|tests/extra)
+
+# Changes tabs to spaces
+- repo: https://github.com/Lucas-C/pre-commit-hooks
+  rev: v1.1.9
+  hooks:
+  - id: remove-tabs
+
+# Flake8 also supports pre-commit natively (same author)
+- repo: https://gitlab.com/pycqa/flake8
+  rev: 3.8.3
+  hooks:
+  - id: flake8
+    additional_dependencies: [flake8-bugbear, pep8-naming]
+    exclude: ^(docs/.*|tools/.*)$
+
+# CMake formatting
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
+    additional_dependencies: [pyyaml]
+    types: [file]
+    files: (\.cmake|CMakeLists.txt)(.in)?$
+
+# Checks the manifest for missing files (native support)
+- repo: https://github.com/mgedmin/check-manifest
+  rev: "0.43"
+  hooks:
+  - id: check-manifest
+    # This is a slow hook, so only run this if --hook-stage manual is passed
+    stages: [manual]
+    additional_dependencies: [cmake, ninja]
+
+# The original pybind11 checks for a few C++ style items
+- repo: local
+  hooks:
+  - id: disallow-caps
+    name: Disallow improper capitalization
+    language: pygrep
+    entry: PyBind|Numpy|Cmake
+    exclude: .pre-commit-config.yaml
+
+- repo: local
+  hooks:
+  - id: check-style
+    name: Classic check-style
+    language: system
+    types:
+    - c++
+    entry: ./tools/check-style.sh
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.readthedocs.yml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.readthedocs.yml
new file mode 100644
index 0000000..c9c6161
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/.readthedocs.yml
@@ -0,0 +1,3 @@
+python:
+  version: 3
+requirements_file: docs/requirements.txt
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/CMakeLists.txt
new file mode 100644
index 0000000..f449ede
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/CMakeLists.txt
@@ -0,0 +1,273 @@
+# CMakeLists.txt -- Build system for the pybind11 modules
+#
+# Copyright (c) 2015 Wenzel Jakob <wenzel@inf.ethz.ch>
+#
+# All rights reserved. Use of this source code is governed by a
+# BSD-style license that can be found in the LICENSE file.
+
+cmake_minimum_required(VERSION 3.4)
+
+add_compile_options(-std=c++14)
+
+# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# some versions of VS that have a patched CMake 3.11. This forces us to emulate
+# the behavior using the following workaround:
+if(${CMAKE_VERSION} VERSION_LESS 3.18)
+  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
+else()
+  cmake_policy(VERSION 3.18)
+endif()
+
+# Extract project version from source
+file(STRINGS "${CMAKE_CURRENT_SOURCE_DIR}/include/pybind11/detail/common.h"
+  pybind11_version_defines REGEX "#define PYBIND11_VERSION_(MAJOR|MINOR|PATCH) ")
+
+foreach(ver ${pybind11_version_defines})
+  if(ver MATCHES [[#define PYBIND11_VERSION_(MAJOR|MINOR|PATCH) +([^ ]+)$]])
+    set(PYBIND11_VERSION_${CMAKE_MATCH_1} "${CMAKE_MATCH_2}")
+  endif()
+endforeach()
+
+if(PYBIND11_VERSION_PATCH MATCHES [[\.([a-zA-Z0-9]+)$]])
+  set(pybind11_VERSION_TYPE "${CMAKE_MATCH_1}")
+endif()
+
+string(REGEX MATCH "^[0-9]+" PYBIND11_VERSION_PATCH "${PYBIND11_VERSION_PATCH}")
+
+project(
+  pybind11
+  LANGUAGES CXX
+  VERSION "${PYBIND11_VERSION_MAJOR}.${PYBIND11_VERSION_MINOR}.${PYBIND11_VERSION_PATCH}")
+
+# Standard includes
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
+include(CMakeDependentOption)
+
+if(NOT pybind11_FIND_QUIETLY)
+  message(STATUS "pybind11 v${pybind11_VERSION} ${pybind11_VERSION_TYPE}")
+endif()
+
+# Check if pybind11 is being used directly or via add_subdirectory
+if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
+  # ## Warn if not an out-of-source builds
+  if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR)
+    set(lines
+      "You are building in-place. If that is not what you intended to "
+      "do, you can clean the source directory with:\n"
+      "rm -r CMakeCache.txt CMakeFiles/ cmake_uninstall.cmake pybind11Config.cmake "
+      "pybind11ConfigVersion.cmake tests/CMakeFiles/\n")
+    message(AUTHOR_WARNING ${lines})
+  endif()
+
+  set(PYBIND11_MASTER_PROJECT ON)
+
+  if(OSX AND CMAKE_VERSION VERSION_LESS 3.7)
+    # Bug in macOS CMake < 3.7 is unable to download catch
+    message(WARNING "CMAKE 3.7+ needed on macOS to download catch, and newer HIGHLY recommended")
+  elseif(WINDOWS AND CMAKE_VERSION VERSION_LESS 3.8)
+    # Only tested with 3.8+ in CI.
+    message(WARNING "CMAKE 3.8+ tested on Windows, previous versions untested")
+  endif()
+
+  message(STATUS "CMake ${CMAKE_VERSION}")
+
+  if(CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_EXTENSIONS OFF)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  endif()
+else()
+  set(PYBIND11_MASTER_PROJECT OFF)
+  set(pybind11_system SYSTEM)
+endif()
+
+# Options
+option(PYBIND11_INSTALL "Install pybind11 header files?" ${PYBIND11_MASTER_PROJECT})
+option(PYBIND11_TEST "Build pybind11 test suite?" ${PYBIND11_MASTER_PROJECT})
+option(PYBIND11_NOPYTHON "Disable search for Python" OFF)
+
+cmake_dependent_option(
+  USE_PYTHON_INCLUDE_DIR
+  "Install pybind11 headers in Python include directory instead of default installation prefix"
+  OFF "PYBIND11_INSTALL" OFF)
+
+cmake_dependent_option(PYBIND11_FINDPYTHON "Force new FindPython" OFF
+  "NOT CMAKE_VERSION VERSION_LESS 3.12" OFF)
+
+# NB: when adding a header don't forget to also add it to setup.py
+set(PYBIND11_HEADERS
+  include/pybind11/detail/class.h
+  include/pybind11/detail/common.h
+  include/pybind11/detail/descr.h
+  include/pybind11/detail/init.h
+  include/pybind11/detail/internals.h
+  include/pybind11/detail/typeid.h
+  include/pybind11/attr.h
+  include/pybind11/buffer_info.h
+  include/pybind11/cast.h
+  include/pybind11/chrono.h
+  include/pybind11/common.h
+  include/pybind11/complex.h
+  include/pybind11/options.h
+  include/pybind11/eigen.h
+  include/pybind11/embed.h
+  include/pybind11/eval.h
+  include/pybind11/iostream.h
+  include/pybind11/functional.h
+  include/pybind11/numpy.h
+  include/pybind11/operators.h
+  include/pybind11/pybind11.h
+  include/pybind11/pytypes.h
+  include/pybind11/stl.h
+  include/pybind11/stl_bind.h)
+
+# Compare with grep and warn if mismatched
+if(PYBIND11_MASTER_PROJECT AND NOT CMAKE_VERSION VERSION_LESS 3.12)
+  file(
+    GLOB_RECURSE _pybind11_header_check
+    LIST_DIRECTORIES false
+    RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}"
+    CONFIGURE_DEPENDS "include/pybind11/*.h")
+  set(_pybind11_here_only ${PYBIND11_HEADERS})
+  set(_pybind11_disk_only ${_pybind11_header_check})
+  list(REMOVE_ITEM _pybind11_here_only ${_pybind11_header_check})
+  list(REMOVE_ITEM _pybind11_disk_only ${PYBIND11_HEADERS})
+
+  if(_pybind11_here_only)
+    message(AUTHOR_WARNING "PYBIND11_HEADERS has extra files:" ${_pybind11_here_only})
+  endif()
+
+  if(_pybind11_disk_only)
+    message(AUTHOR_WARNING "PYBIND11_HEADERS is missing files:" ${_pybind11_disk_only})
+  endif()
+endif()
+
+# CMake 3.12 added list(TRANSFORM <list> PREPEND
+# But we can't use it yet
+string(REPLACE "include/" "${CMAKE_CURRENT_SOURCE_DIR}/include/" PYBIND11_HEADERS
+  "${PYBIND11_HEADERS}")
+
+# Cache variables so pybind11_add_module can be used in parent projects
+set(PYBIND11_INCLUDE_DIR
+  "${CMAKE_CURRENT_LIST_DIR}/include"
+  CACHE INTERNAL "")
+
+# Note: when creating targets, you cannot use if statements at configure time -
+# you need generator expressions, because those will be placed in the target file.
+# You can also place ifs *in* the Config.in, but not here.
+
+# This section builds targets, but does *not* touch Python
+
+# Build the headers-only target (no Python included):
+# (long name used here to keep this from clashing in subdirectory mode)
+add_library(pybind11_headers INTERFACE)
+add_library(pybind11::pybind11_headers ALIAS pybind11_headers) # to match exported target
+add_library(pybind11::headers ALIAS pybind11_headers) # easier to use/remember
+
+include("${CMAKE_CURRENT_SOURCE_DIR}/tools/pybind11Common.cmake")
+
+# Relative directory setting
+if(USE_PYTHON_INCLUDE_DIR AND DEFINED Python_INCLUDE_DIRS)
+  file(RELATIVE_PATH CMAKE_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_PREFIX} ${Python_INCLUDE_DIRS})
+elseif(USE_PYTHON_INCLUDE_DIR AND DEFINED PYTHON_INCLUDE_DIR)
+  file(RELATIVE_PATH CMAKE_INSTALL_INCLUDEDIR ${CMAKE_INSTALL_PREFIX} ${PYTHON_INCLUDE_DIRS})
+endif()
+
+# Fill in headers target
+target_include_directories(
+  pybind11_headers ${pybind11_system} INTERFACE $<BUILD_INTERFACE:${PYBIND11_INCLUDE_DIR}>
+  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+target_compile_features(pybind11_headers INTERFACE cxx_inheriting_constructors cxx_user_literals
+  cxx_right_angle_brackets)
+
+if(PYBIND11_INSTALL)
+  install(DIRECTORY ${PYBIND11_INCLUDE_DIR}/pybind11 DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+  # GNUInstallDirs "DATADIR" wrong here; CMake search path wants "share".
+  set(PYBIND11_CMAKECONFIG_INSTALL_DIR
+    "share/cmake/${PROJECT_NAME}"
+    CACHE STRING "install path for pybind11Config.cmake")
+
+  configure_package_config_file(
+    tools/${PROJECT_NAME}Config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+    INSTALL_DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})
+
+  if(CMAKE_VERSION VERSION_LESS 3.14)
+    # Remove CMAKE_SIZEOF_VOID_P from ConfigVersion.cmake since the library does
+    # not depend on architecture specific settings or libraries.
+    set(_PYBIND11_CMAKE_SIZEOF_VOID_P ${CMAKE_SIZEOF_VOID_P})
+    unset(CMAKE_SIZEOF_VOID_P)
+
+    write_basic_package_version_file(
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+      VERSION ${PROJECT_VERSION}
+      COMPATIBILITY AnyNewerVersion)
+
+    set(CMAKE_SIZEOF_VOID_P ${_PYBIND11_CMAKE_SIZEOF_VOID_P})
+  else()
+    # CMake 3.14+ natively supports header-only libraries
+    write_basic_package_version_file(
+      ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+      VERSION ${PROJECT_VERSION}
+      COMPATIBILITY AnyNewerVersion ARCH_INDEPENDENT)
+  endif()
+
+  install(
+    FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
+    ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
+    tools/FindPythonLibsNew.cmake
+    tools/pybind11Common.cmake
+    tools/pybind11Tools.cmake
+    tools/pybind11NewTools.cmake
+    DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})
+
+  if(NOT PYBIND11_EXPORT_NAME)
+    set(PYBIND11_EXPORT_NAME "${PROJECT_NAME}Targets")
+  endif()
+
+  install(TARGETS pybind11_headers EXPORT "${PYBIND11_EXPORT_NAME}")
+
+  install(
+    EXPORT "${PYBIND11_EXPORT_NAME}"
+    NAMESPACE "pybind11::"
+    DESTINATION ${PYBIND11_CMAKECONFIG_INSTALL_DIR})
+
+  # Uninstall target
+  if(PYBIND11_MASTER_PROJECT)
+    configure_file("${CMAKE_CURRENT_SOURCE_DIR}/tools/cmake_uninstall.cmake.in"
+      "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake" IMMEDIATE @ONLY)
+
+    add_custom_target(uninstall COMMAND ${CMAKE_COMMAND} -P
+      ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+  endif()
+endif()
+
+# BUILD_TESTING takes priority, but only if this is the master project
+if(PYBIND11_MASTER_PROJECT AND DEFINED BUILD_TESTING)
+  if(BUILD_TESTING)
+    if(_pybind11_nopython)
+      message(FATAL_ERROR "Cannot activate tests in NOPYTHON mode")
+    else()
+      add_subdirectory(tests)
+    endif()
+  endif()
+else()
+  if(PYBIND11_TEST)
+    if(_pybind11_nopython)
+      message(FATAL_ERROR "Cannot activate tests in NOPYTHON mode")
+    else()
+      add_subdirectory(tests)
+    endif()
+  endif()
+endif()
+
+# Better symmetry with find_package(pybind11 CONFIG) mode.
+if(NOT PYBIND11_MASTER_PROJECT)
+  set(pybind11_FOUND
+    TRUE
+    CACHE INTERNAL "true if pybind11 and all required components found on the system")
+  set(pybind11_INCLUDE_DIR
+    "${PYBIND11_INCLUDE_DIR}"
+    CACHE INTERNAL "Directory where pybind11 headers are located")
+endif()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/LICENSE b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/LICENSE
new file mode 100644
index 0000000..e466b0d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/LICENSE
@@ -0,0 +1,29 @@
+Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>, All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+Please also refer to the file .github/CONTRIBUTING.md, which clarifies licensing of
+external contributions to this project including patches, pull requests, etc.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/MANIFEST.in b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/MANIFEST.in
new file mode 100644
index 0000000..2e11abe
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/MANIFEST.in
@@ -0,0 +1,4 @@
+recursive-include pybind11/include/pybind11 *.h
+recursive-include pybind11 *.py
+include pybind11/share/cmake/pybind11/*.cmake
+include LICENSE README.rst pyproject.toml setup.py setup.cfg
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/README.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/README.rst
new file mode 100644
index 0000000..fca378f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/README.rst
@@ -0,0 +1,158 @@
+.. figure:: https://github.com/pybind/pybind11/raw/master/docs/pybind11-logo.png
+   :alt: pybind11 logo
+
+pybind11 — Seamless operability between C++11 and Python
+========================================================
+
+|Latest Documentation Status| |Stable Documentation Status| |Gitter chat| |CI| |Build status|
+
+**pybind11** is a lightweight header-only library that exposes C++ types
+in Python and vice versa, mainly to create Python bindings of existing
+C++ code. Its goals and syntax are similar to the excellent
+`Boost.Python <http://www.boost.org/doc/libs/1_58_0/libs/python/doc/>`_
+library by David Abrahams: to minimize boilerplate code in traditional
+extension modules by inferring type information using compile-time
+introspection.
+
+The main issue with Boost.Python—and the reason for creating such a
+similar project—is Boost. Boost is an enormously large and complex suite
+of utility libraries that works with almost every C++ compiler in
+existence. This compatibility has its cost: arcane template tricks and
+workarounds are necessary to support the oldest and buggiest of compiler
+specimens. Now that C++11-compatible compilers are widely available,
+this heavy machinery has become an excessively large and unnecessary
+dependency.
+
+Think of this library as a tiny self-contained version of Boost.Python
+with everything stripped away that isn’t relevant for binding
+generation. Without comments, the core header files only require ~4K
+lines of code and depend on Python (2.7 or 3.5+, or PyPy) and the C++
+standard library. This compact implementation was possible thanks to
+some of the new C++11 language features (specifically: tuples, lambda
+functions and variadic templates). Since its creation, this library has
+grown beyond Boost.Python in many ways, leading to dramatically simpler
+binding code in many common situations.
+
+Tutorial and reference documentation is provided at
+`pybind11.readthedocs.io <https://pybind11.readthedocs.io/en/latest>`_).
+A PDF version of the manual is available
+`here <https://media.readthedocs.org/pdf/pybind11/master/pybind11.pdf>`_.
+And the source code is always available at
+`github.com/pybind/pybind11 <https://github.com/pybind/pybind11>`_.
+
+Core features
+-------------
+
+pybind11 can map the following core C++ features to Python:
+
+-  Functions accepting and returning custom data structures per value,
+   reference, or pointer
+-  Instance methods and static methods
+-  Overloaded functions
+-  Instance attributes and static attributes
+-  Arbitrary exception types
+-  Enumerations
+-  Callbacks
+-  Iterators and ranges
+-  Custom operators
+-  Single and multiple inheritance
+-  STL data structures
+-  Smart pointers with reference counting like ``std::shared_ptr``
+-  Internal references with correct reference counting
+-  C++ classes with virtual (and pure virtual) methods can be extended
+   in Python
+
+Goodies
+-------
+
+In addition to the core functionality, pybind11 provides some extra
+goodies:
+
+-  Python 2.7, 3.5+, and PyPy/PyPy3 7.3 are supported with an
+   implementation-agnostic interface.
+
+-  It is possible to bind C++11 lambda functions with captured
+   variables. The lambda capture data is stored inside the resulting
+   Python function object.
+
+-  pybind11 uses C++11 move constructors and move assignment operators
+   whenever possible to efficiently transfer custom data types.
+
+-  It’s easy to expose the internal storage of custom data types through
+   Pythons’ buffer protocols. This is handy e.g. for fast conversion
+   between C++ matrix classes like Eigen and NumPy without expensive
+   copy operations.
+
+-  pybind11 can automatically vectorize functions so that they are
+   transparently applied to all entries of one or more NumPy array
+   arguments.
+
+-  Python’s slice-based access and assignment operations can be
+   supported with just a few lines of code.
+
+-  Everything is contained in just a few header files; there is no need
+   to link against any additional libraries.
+
+-  Binaries are generally smaller by a factor of at least 2 compared to
+   equivalent bindings generated by Boost.Python. A recent pybind11
+   conversion of PyRosetta, an enormous Boost.Python binding project,
+   `reported <http://graylab.jhu.edu/RosettaCon2016/PyRosetta-4.pdf>`_
+   a binary size reduction of **5.4x** and compile time reduction by
+   **5.8x**.
+
+-  Function signatures are precomputed at compile time (using
+   ``constexpr``), leading to smaller binaries.
+
+-  With little extra effort, C++ types can be pickled and unpickled
+   similar to regular Python objects.
+
+Supported compilers
+-------------------
+
+1. Clang/LLVM 3.3 or newer (for Apple Xcode’s clang, this is 5.0.0 or
+   newer)
+2. GCC 4.8 or newer
+3. Microsoft Visual Studio 2015 Update 3 or newer
+4. Intel C++ compiler 17 or newer (16 with pybind11 v2.0 and 15 with
+   pybind11 v2.0 and a
+   `workaround <https://github.com/pybind/pybind11/issues/276>`_)
+5. Cygwin/GCC (tested on 2.5.1)
+6. NVCC (CUDA 11 tested)
+7. NVIDIA PGI (20.7 and 20.9 tested)
+
+About
+-----
+
+This project was created by `Wenzel
+Jakob <http://rgl.epfl.ch/people/wjakob>`_. Significant features and/or
+improvements to the code were contributed by Jonas Adler, Lori A. Burns,
+Sylvain Corlay, Trent Houliston, Axel Huebl, @hulucc, Sergey Lyskov
+Johan Mabille, Tomasz Miąsko, Dean Moldovan, Ben Pritchard, Jason
+Rhinelander, Boris Schäling, Pim Schellart, Henry Schreiner, Ivan
+Smirnov, and Patrick Stewart.
+
+Contributing
+~~~~~~~~~~~~
+
+See the `contributing
+guide <https://github.com/pybind/pybind11/blob/master/.github/CONTRIBUTING.md>`_
+for information on building and contributing to pybind11.
+
+License
+~~~~~~~
+
+pybind11 is provided under a BSD-style license that can be found in the
+`LICENSE <https://github.com/pybind/pybind11/blob/master/LICENSE>`_
+file. By using, distributing, or contributing to this project, you agree
+to the terms and conditions of this license.
+
+.. |Latest Documentation Status| image:: https://readthedocs.org/projects/pybind11/badge?version=latest
+   :target: http://pybind11.readthedocs.org/en/latest
+.. |Stable Documentation Status| image:: https://img.shields.io/badge/docs-stable-blue
+   :target: http://pybind11.readthedocs.org/en/stable
+.. |Gitter chat| image:: https://img.shields.io/gitter/room/gitterHQ/gitter.svg
+   :target: https://gitter.im/pybind/Lobby
+.. |CI| image:: https://github.com/pybind/pybind11/workflows/CI/badge.svg
+   :target: https://github.com/pybind/pybind11/actions
+.. |Build status| image:: https://ci.appveyor.com/api/projects/status/riaj54pn4h08xy40?svg=true
+   :target: https://ci.appveyor.com/project/wjakob/pybind11
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/Doxyfile b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/Doxyfile
new file mode 100644
index 0000000..c856295
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/Doxyfile
@@ -0,0 +1,23 @@
+PROJECT_NAME           = pybind11
+INPUT                  = ../include/pybind11/
+RECURSIVE              = YES
+
+GENERATE_HTML          = NO
+GENERATE_LATEX         = NO
+GENERATE_XML           = YES
+XML_OUTPUT             = .build/doxygenxml
+XML_PROGRAMLISTING     = YES
+
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+EXPAND_AS_DEFINED      = PYBIND11_RUNTIME_EXCEPTION
+
+ALIASES                = "rst=\verbatim embed:rst"
+ALIASES               += "endrst=\endverbatim"
+
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = NO
+PREDEFINED             = DOXYGEN_SHOULD_SKIP_THIS \
+                         PY_MAJOR_VERSION=3 \
+                         PYBIND11_NOINLINE
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/_static/theme_overrides.css b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/_static/theme_overrides.css
new file mode 100644
index 0000000..1071809
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/_static/theme_overrides.css
@@ -0,0 +1,11 @@
+.wy-table-responsive table td,
+.wy-table-responsive table th {
+    white-space: initial !important;
+}
+.rst-content table.docutils td {
+    vertical-align: top !important;
+}
+div[class^='highlight'] pre {
+    white-space: pre;
+    white-space: pre-wrap;
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/chrono.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/chrono.rst
new file mode 100644
index 0000000..fbd4605
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/chrono.rst
@@ -0,0 +1,81 @@
+Chrono
+======
+
+When including the additional header file :file:`pybind11/chrono.h` conversions
+from C++11 chrono datatypes to python datetime objects are automatically enabled.
+This header also enables conversions of python floats (often from sources such
+as ``time.monotonic()``, ``time.perf_counter()`` and ``time.process_time()``)
+into durations.
+
+An overview of clocks in C++11
+------------------------------
+
+A point of confusion when using these conversions is the differences between
+clocks provided in C++11. There are three clock types defined by the C++11
+standard and users can define their own if needed. Each of these clocks have
+different properties and when converting to and from python will give different
+results.
+
+The first clock defined by the standard is ``std::chrono::system_clock``. This
+clock measures the current date and time. However, this clock changes with to
+updates to the operating system time. For example, if your time is synchronised
+with a time server this clock will change. This makes this clock a poor choice
+for timing purposes but good for measuring the wall time.
+
+The second clock defined in the standard is ``std::chrono::steady_clock``.
+This clock ticks at a steady rate and is never adjusted. This makes it excellent
+for timing purposes, however the value in this clock does not correspond to the
+current date and time. Often this clock will be the amount of time your system
+has been on, although it does not have to be. This clock will never be the same
+clock as the system clock as the system clock can change but steady clocks
+cannot.
+
+The third clock defined in the standard is ``std::chrono::high_resolution_clock``.
+This clock is the clock that has the highest resolution out of the clocks in the
+system. It is normally a typedef to either the system clock or the steady clock
+but can be its own independent clock. This is important as when using these
+conversions as the types you get in python for this clock might be different
+depending on the system.
+If it is a typedef of the system clock, python will get datetime objects, but if
+it is a different clock they will be timedelta objects.
+
+Provided conversions
+--------------------
+
+.. rubric:: C++ to Python
+
+- ``std::chrono::system_clock::time_point`` → ``datetime.datetime``
+    System clock times are converted to python datetime instances. They are
+    in the local timezone, but do not have any timezone information attached
+    to them (they are naive datetime objects).
+
+- ``std::chrono::duration`` → ``datetime.timedelta``
+    Durations are converted to timedeltas, any precision in the duration
+    greater than microseconds is lost by rounding towards zero.
+
+- ``std::chrono::[other_clocks]::time_point`` → ``datetime.timedelta``
+    Any clock time that is not the system clock is converted to a time delta.
+    This timedelta measures the time from the clocks epoch to now.
+
+.. rubric:: Python to C++
+
+- ``datetime.datetime`` or ``datetime.date`` or ``datetime.time`` → ``std::chrono::system_clock::time_point``
+    Date/time objects are converted into system clock timepoints. Any
+    timezone information is ignored and the type is treated as a naive
+    object.
+
+- ``datetime.timedelta`` → ``std::chrono::duration``
+    Time delta are converted into durations with microsecond precision.
+
+- ``datetime.timedelta`` → ``std::chrono::[other_clocks]::time_point``
+    Time deltas that are converted into clock timepoints are treated as
+    the amount of time from the start of the clocks epoch.
+
+- ``float`` → ``std::chrono::duration``
+    Floats that are passed to C++ as durations be interpreted as a number of
+    seconds. These will be converted to the duration using ``duration_cast``
+    from the float.
+
+- ``float`` → ``std::chrono::[other_clocks]::time_point``
+    Floats that are passed to C++ as time points will be interpreted as the
+    number of seconds from the start of the clocks epoch.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/custom.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/custom.rst
new file mode 100644
index 0000000..a779444
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/custom.rst
@@ -0,0 +1,91 @@
+Custom type casters
+===================
+
+In very rare cases, applications may require custom type casters that cannot be
+expressed using the abstractions provided by pybind11, thus requiring raw
+Python C API calls. This is fairly advanced usage and should only be pursued by
+experts who are familiar with the intricacies of Python reference counting.
+
+The following snippets demonstrate how this works for a very simple ``inty``
+type that that should be convertible from Python types that provide a
+``__int__(self)`` method.
+
+.. code-block:: cpp
+
+    struct inty { long long_value; };
+
+    void print(inty s) {
+        std::cout << s.long_value << std::endl;
+    }
+
+The following Python snippet demonstrates the intended usage from the Python side:
+
+.. code-block:: python
+
+    class A:
+        def __int__(self):
+            return 123
+
+    from example import print
+    print(A())
+
+To register the necessary conversion routines, it is necessary to add an
+instantiation of the ``pybind11::detail::type_caster<T>`` template.
+Although this is an implementation detail, adding an instantiation of this
+type is explicitly allowed.
+
+.. code-block:: cpp
+
+    namespace pybind11 { namespace detail {
+        template <> struct type_caster<inty> {
+        public:
+            /**
+             * This macro establishes the name 'inty' in
+             * function signatures and declares a local variable
+             * 'value' of type inty
+             */
+            PYBIND11_TYPE_CASTER(inty, _("inty"));
+
+            /**
+             * Conversion part 1 (Python->C++): convert a PyObject into a inty
+             * instance or return false upon failure. The second argument
+             * indicates whether implicit conversions should be applied.
+             */
+            bool load(handle src, bool) {
+                /* Extract PyObject from handle */
+                PyObject *source = src.ptr();
+                /* Try converting into a Python integer value */
+                PyObject *tmp = PyNumber_Long(source);
+                if (!tmp)
+                    return false;
+                /* Now try to convert into a C++ int */
+                value.long_value = PyLong_AsLong(tmp);
+                Py_DECREF(tmp);
+                /* Ensure return code was OK (to avoid out-of-range errors etc) */
+                return !(value.long_value == -1 && !PyErr_Occurred());
+            }
+
+            /**
+             * Conversion part 2 (C++ -> Python): convert an inty instance into
+             * a Python object. The second and third arguments are used to
+             * indicate the return value policy and parent object (for
+             * ``return_value_policy::reference_internal``) and are generally
+             * ignored by implicit casters.
+             */
+            static handle cast(inty src, return_value_policy /* policy */, handle /* parent */) {
+                return PyLong_FromLong(src.long_value);
+            }
+        };
+    }} // namespace pybind11::detail
+
+.. note::
+
+    A ``type_caster<T>`` defined with ``PYBIND11_TYPE_CASTER(T, ...)`` requires
+    that ``T`` is default-constructible (``value`` is first default constructed
+    and then ``load()`` assigns to it).
+
+.. warning::
+
+    When using custom type casters, it's important to declare them consistently
+    in every compilation unit of the Python extension module. Otherwise,
+    undefined behavior can ensue.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/eigen.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/eigen.rst
new file mode 100644
index 0000000..e01472d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/eigen.rst
@@ -0,0 +1,310 @@
+Eigen
+#####
+
+`Eigen <http://eigen.tuxfamily.org>`_ is C++ header-based library for dense and
+sparse linear algebra. Due to its popularity and widespread adoption, pybind11
+provides transparent conversion and limited mapping support between Eigen and
+Scientific Python linear algebra data types.
+
+To enable the built-in Eigen support you must include the optional header file
+:file:`pybind11/eigen.h`.
+
+Pass-by-value
+=============
+
+When binding a function with ordinary Eigen dense object arguments (for
+example, ``Eigen::MatrixXd``), pybind11 will accept any input value that is
+already (or convertible to) a ``numpy.ndarray`` with dimensions compatible with
+the Eigen type, copy its values into a temporary Eigen variable of the
+appropriate type, then call the function with this temporary variable.
+
+Sparse matrices are similarly copied to or from
+``scipy.sparse.csr_matrix``/``scipy.sparse.csc_matrix`` objects.
+
+Pass-by-reference
+=================
+
+One major limitation of the above is that every data conversion implicitly
+involves a copy, which can be both expensive (for large matrices) and disallows
+binding functions that change their (Matrix) arguments.  Pybind11 allows you to
+work around this by using Eigen's ``Eigen::Ref<MatrixType>`` class much as you
+would when writing a function taking a generic type in Eigen itself (subject to
+some limitations discussed below).
+
+When calling a bound function accepting a ``Eigen::Ref<const MatrixType>``
+type, pybind11 will attempt to avoid copying by using an ``Eigen::Map`` object
+that maps into the source ``numpy.ndarray`` data: this requires both that the
+data types are the same (e.g. ``dtype='float64'`` and ``MatrixType::Scalar`` is
+``double``); and that the storage is layout compatible.  The latter limitation
+is discussed in detail in the section below, and requires careful
+consideration: by default, numpy matrices and Eigen matrices are *not* storage
+compatible.
+
+If the numpy matrix cannot be used as is (either because its types differ, e.g.
+passing an array of integers to an Eigen parameter requiring doubles, or
+because the storage is incompatible), pybind11 makes a temporary copy and
+passes the copy instead.
+
+When a bound function parameter is instead ``Eigen::Ref<MatrixType>`` (note the
+lack of ``const``), pybind11 will only allow the function to be called if it
+can be mapped *and* if the numpy array is writeable (that is
+``a.flags.writeable`` is true).  Any access (including modification) made to
+the passed variable will be transparently carried out directly on the
+``numpy.ndarray``.
+
+This means you can can write code such as the following and have it work as
+expected:
+
+.. code-block:: cpp
+
+    void scale_by_2(Eigen::Ref<Eigen::VectorXd> v) {
+        v *= 2;
+    }
+
+Note, however, that you will likely run into limitations due to numpy and
+Eigen's difference default storage order for data; see the below section on
+:ref:`storage_orders` for details on how to bind code that won't run into such
+limitations.
+
+.. note::
+
+    Passing by reference is not supported for sparse types.
+
+Returning values to Python
+==========================
+
+When returning an ordinary dense Eigen matrix type to numpy (e.g.
+``Eigen::MatrixXd`` or ``Eigen::RowVectorXf``) pybind11 keeps the matrix and
+returns a numpy array that directly references the Eigen matrix: no copy of the
+data is performed.  The numpy array will have ``array.flags.owndata`` set to
+``False`` to indicate that it does not own the data, and the lifetime of the
+stored Eigen matrix will be tied to the returned ``array``.
+
+If you bind a function with a non-reference, ``const`` return type (e.g.
+``const Eigen::MatrixXd``), the same thing happens except that pybind11 also
+sets the numpy array's ``writeable`` flag to false.
+
+If you return an lvalue reference or pointer, the usual pybind11 rules apply,
+as dictated by the binding function's return value policy (see the
+documentation on :ref:`return_value_policies` for full details).  That means,
+without an explicit return value policy, lvalue references will be copied and
+pointers will be managed by pybind11.  In order to avoid copying, you should
+explicitly specify an appropriate return value policy, as in the following
+example:
+
+.. code-block:: cpp
+
+    class MyClass {
+        Eigen::MatrixXd big_mat = Eigen::MatrixXd::Zero(10000, 10000);
+    public:
+        Eigen::MatrixXd &getMatrix() { return big_mat; }
+        const Eigen::MatrixXd &viewMatrix() { return big_mat; }
+    };
+
+    // Later, in binding code:
+    py::class_<MyClass>(m, "MyClass")
+        .def(py::init<>())
+        .def("copy_matrix", &MyClass::getMatrix) // Makes a copy!
+        .def("get_matrix", &MyClass::getMatrix, py::return_value_policy::reference_internal)
+        .def("view_matrix", &MyClass::viewMatrix, py::return_value_policy::reference_internal)
+        ;
+
+.. code-block:: python
+
+    a = MyClass()
+    m = a.get_matrix()   # flags.writeable = True,  flags.owndata = False
+    v = a.view_matrix()  # flags.writeable = False, flags.owndata = False
+    c = a.copy_matrix()  # flags.writeable = True,  flags.owndata = True
+    # m[5,6] and v[5,6] refer to the same element, c[5,6] does not.
+
+Note in this example that ``py::return_value_policy::reference_internal`` is
+used to tie the life of the MyClass object to the life of the returned arrays.
+
+You may also return an ``Eigen::Ref``, ``Eigen::Map`` or other map-like Eigen
+object (for example, the return value of ``matrix.block()`` and related
+methods) that map into a dense Eigen type.  When doing so, the default
+behaviour of pybind11 is to simply reference the returned data: you must take
+care to ensure that this data remains valid!  You may ask pybind11 to
+explicitly *copy* such a return value by using the
+``py::return_value_policy::copy`` policy when binding the function.  You may
+also use ``py::return_value_policy::reference_internal`` or a
+``py::keep_alive`` to ensure the data stays valid as long as the returned numpy
+array does.
+
+When returning such a reference of map, pybind11 additionally respects the
+readonly-status of the returned value, marking the numpy array as non-writeable
+if the reference or map was itself read-only.
+
+.. note::
+
+    Sparse types are always copied when returned.
+
+.. _storage_orders:
+
+Storage orders
+==============
+
+Passing arguments via ``Eigen::Ref`` has some limitations that you must be
+aware of in order to effectively pass matrices by reference.  First and
+foremost is that the default ``Eigen::Ref<MatrixType>`` class requires
+contiguous storage along columns (for column-major types, the default in Eigen)
+or rows if ``MatrixType`` is specifically an ``Eigen::RowMajor`` storage type.
+The former, Eigen's default, is incompatible with ``numpy``'s default row-major
+storage, and so you will not be able to pass numpy arrays to Eigen by reference
+without making one of two changes.
+
+(Note that this does not apply to vectors (or column or row matrices): for such
+types the "row-major" and "column-major" distinction is meaningless).
+
+The first approach is to change the use of ``Eigen::Ref<MatrixType>`` to the
+more general ``Eigen::Ref<MatrixType, 0, Eigen::Stride<Eigen::Dynamic,
+Eigen::Dynamic>>`` (or similar type with a fully dynamic stride type in the
+third template argument).  Since this is a rather cumbersome type, pybind11
+provides a ``py::EigenDRef<MatrixType>`` type alias for your convenience (along
+with EigenDMap for the equivalent Map, and EigenDStride for just the stride
+type).
+
+This type allows Eigen to map into any arbitrary storage order.  This is not
+the default in Eigen for performance reasons: contiguous storage allows
+vectorization that cannot be done when storage is not known to be contiguous at
+compile time.  The default ``Eigen::Ref`` stride type allows non-contiguous
+storage along the outer dimension (that is, the rows of a column-major matrix
+or columns of a row-major matrix), but not along the inner dimension.
+
+This type, however, has the added benefit of also being able to map numpy array
+slices.  For example, the following (contrived) example uses Eigen with a numpy
+slice to multiply by 2 all coefficients that are both on even rows (0, 2, 4,
+...) and in columns 2, 5, or 8:
+
+.. code-block:: cpp
+
+    m.def("scale", [](py::EigenDRef<Eigen::MatrixXd> m, double c) { m *= c; });
+
+.. code-block:: python
+
+    # a = np.array(...)
+    scale_by_2(myarray[0::2, 2:9:3])
+
+The second approach to avoid copying is more intrusive: rearranging the
+underlying data types to not run into the non-contiguous storage problem in the
+first place.  In particular, that means using matrices with ``Eigen::RowMajor``
+storage, where appropriate, such as:
+
+.. code-block:: cpp
+
+    using RowMatrixXd = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+    // Use RowMatrixXd instead of MatrixXd
+
+Now bound functions accepting ``Eigen::Ref<RowMatrixXd>`` arguments will be
+callable with numpy's (default) arrays without involving a copying.
+
+You can, alternatively, change the storage order that numpy arrays use by
+adding the ``order='F'`` option when creating an array:
+
+.. code-block:: python
+
+    myarray = np.array(source, order='F')
+
+Such an object will be passable to a bound function accepting an
+``Eigen::Ref<MatrixXd>`` (or similar column-major Eigen type).
+
+One major caveat with this approach, however, is that it is not entirely as
+easy as simply flipping all Eigen or numpy usage from one to the other: some
+operations may alter the storage order of a numpy array.  For example, ``a2 =
+array.transpose()`` results in ``a2`` being a view of ``array`` that references
+the same data, but in the opposite storage order!
+
+While this approach allows fully optimized vectorized calculations in Eigen, it
+cannot be used with array slices, unlike the first approach.
+
+When *returning* a matrix to Python (either a regular matrix, a reference via
+``Eigen::Ref<>``, or a map/block into a matrix), no special storage
+consideration is required: the created numpy array will have the required
+stride that allows numpy to properly interpret the array, whatever its storage
+order.
+
+Failing rather than copying
+===========================
+
+The default behaviour when binding ``Eigen::Ref<const MatrixType>`` Eigen
+references is to copy matrix values when passed a numpy array that does not
+conform to the element type of ``MatrixType`` or does not have a compatible
+stride layout.  If you want to explicitly avoid copying in such a case, you
+should bind arguments using the ``py::arg().noconvert()`` annotation (as
+described in the :ref:`nonconverting_arguments` documentation).
+
+The following example shows an example of arguments that don't allow data
+copying to take place:
+
+.. code-block:: cpp
+
+    // The method and function to be bound:
+    class MyClass {
+        // ...
+        double some_method(const Eigen::Ref<const MatrixXd> &matrix) { /* ... */ }
+    };
+    float some_function(const Eigen::Ref<const MatrixXf> &big,
+                        const Eigen::Ref<const MatrixXf> &small) {
+        // ...
+    }
+
+    // The associated binding code:
+    using namespace pybind11::literals; // for "arg"_a
+    py::class_<MyClass>(m, "MyClass")
+        // ... other class definitions
+        .def("some_method", &MyClass::some_method, py::arg().noconvert());
+
+    m.def("some_function", &some_function,
+        "big"_a.noconvert(), // <- Don't allow copying for this arg
+        "small"_a            // <- This one can be copied if needed
+    );
+
+With the above binding code, attempting to call the the ``some_method(m)``
+method on a ``MyClass`` object, or attempting to call ``some_function(m, m2)``
+will raise a ``RuntimeError`` rather than making a temporary copy of the array.
+It will, however, allow the ``m2`` argument to be copied into a temporary if
+necessary.
+
+Note that explicitly specifying ``.noconvert()`` is not required for *mutable*
+Eigen references (e.g. ``Eigen::Ref<MatrixXd>`` without ``const`` on the
+``MatrixXd``): mutable references will never be called with a temporary copy.
+
+Vectors versus column/row matrices
+==================================
+
+Eigen and numpy have fundamentally different notions of a vector.  In Eigen, a
+vector is simply a matrix with the number of columns or rows set to 1 at
+compile time (for a column vector or row vector, respectively).  NumPy, in
+contrast, has comparable 2-dimensional 1xN and Nx1 arrays, but *also* has
+1-dimensional arrays of size N.
+
+When passing a 2-dimensional 1xN or Nx1 array to Eigen, the Eigen type must
+have matching dimensions: That is, you cannot pass a 2-dimensional Nx1 numpy
+array to an Eigen value expecting a row vector, or a 1xN numpy array as a
+column vector argument.
+
+On the other hand, pybind11 allows you to pass 1-dimensional arrays of length N
+as Eigen parameters.  If the Eigen type can hold a column vector of length N it
+will be passed as such a column vector.  If not, but the Eigen type constraints
+will accept a row vector, it will be passed as a row vector.  (The column
+vector takes precedence when both are supported, for example, when passing a
+1D numpy array to a MatrixXd argument).  Note that the type need not be
+explicitly a vector: it is permitted to pass a 1D numpy array of size 5 to an
+Eigen ``Matrix<double, Dynamic, 5>``: you would end up with a 1x5 Eigen matrix.
+Passing the same to an ``Eigen::MatrixXd`` would result in a 5x1 Eigen matrix.
+
+When returning an Eigen vector to numpy, the conversion is ambiguous: a row
+vector of length 4 could be returned as either a 1D array of length 4, or as a
+2D array of size 1x4.  When encountering such a situation, pybind11 compromises
+by considering the returned Eigen type: if it is a compile-time vector--that
+is, the type has either the number of rows or columns set to 1 at compile
+time--pybind11 converts to a 1D numpy array when returning the value.  For
+instances that are a vector only at run-time (e.g. ``MatrixXd``,
+``Matrix<float, Dynamic, 4>``), pybind11 returns the vector as a 2D array to
+numpy.  If this isn't want you want, you can use ``array.reshape(...)`` to get
+a view of the same data in the desired dimensions.
+
+.. seealso::
+
+    The file :file:`tests/test_eigen.cpp` contains a complete example that
+    shows how to pass Eigen sparse and dense data types in more detail.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/functional.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/functional.rst
new file mode 100644
index 0000000..d9b4605
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/functional.rst
@@ -0,0 +1,109 @@
+Functional
+##########
+
+The following features must be enabled by including :file:`pybind11/functional.h`.
+
+
+Callbacks and passing anonymous functions
+=========================================
+
+The C++11 standard brought lambda functions and the generic polymorphic
+function wrapper ``std::function<>`` to the C++ programming language, which
+enable powerful new ways of working with functions. Lambda functions come in
+two flavors: stateless lambda function resemble classic function pointers that
+link to an anonymous piece of code, while stateful lambda functions
+additionally depend on captured variables that are stored in an anonymous
+*lambda closure object*.
+
+Here is a simple example of a C++ function that takes an arbitrary function
+(stateful or stateless) with signature ``int -> int`` as an argument and runs
+it with the value 10.
+
+.. code-block:: cpp
+
+    int func_arg(const std::function<int(int)> &f) {
+        return f(10);
+    }
+
+The example below is more involved: it takes a function of signature ``int -> int``
+and returns another function of the same kind. The return value is a stateful
+lambda function, which stores the value ``f`` in the capture object and adds 1 to
+its return value upon execution.
+
+.. code-block:: cpp
+
+    std::function<int(int)> func_ret(const std::function<int(int)> &f) {
+        return [f](int i) {
+            return f(i) + 1;
+        };
+    }
+
+This example demonstrates using python named parameters in C++ callbacks which
+requires using ``py::cpp_function`` as a wrapper. Usage is similar to defining
+methods of classes:
+
+.. code-block:: cpp
+
+    py::cpp_function func_cpp() {
+        return py::cpp_function([](int i) { return i+1; },
+           py::arg("number"));
+    }
+
+After including the extra header file :file:`pybind11/functional.h`, it is almost
+trivial to generate binding code for all of these functions.
+
+.. code-block:: cpp
+
+    #include <pybind11/functional.h>
+
+    PYBIND11_MODULE(example, m) {
+        m.def("func_arg", &func_arg);
+        m.def("func_ret", &func_ret);
+        m.def("func_cpp", &func_cpp);
+    }
+
+The following interactive session shows how to call them from Python.
+
+.. code-block:: pycon
+
+    $ python
+    >>> import example
+    >>> def square(i):
+    ...     return i * i
+    ...
+    >>> example.func_arg(square)
+    100L
+    >>> square_plus_1 = example.func_ret(square)
+    >>> square_plus_1(4)
+    17L
+    >>> plus_1 = func_cpp()
+    >>> plus_1(number=43)
+    44L
+
+.. warning::
+
+    Keep in mind that passing a function from C++ to Python (or vice versa)
+    will instantiate a piece of wrapper code that translates function
+    invocations between the two languages. Naturally, this translation
+    increases the computational cost of each function call somewhat. A
+    problematic situation can arise when a function is copied back and forth
+    between Python and C++ many times in a row, in which case the underlying
+    wrappers will accumulate correspondingly. The resulting long sequence of
+    C++ -> Python -> C++ -> ... roundtrips can significantly decrease
+    performance.
+
+    There is one exception: pybind11 detects case where a stateless function
+    (i.e. a function pointer or a lambda function without captured variables)
+    is passed as an argument to another C++ function exposed in Python. In this
+    case, there is no overhead. Pybind11 will extract the underlying C++
+    function pointer from the wrapped function to sidestep a potential C++ ->
+    Python -> C++ roundtrip. This is demonstrated in :file:`tests/test_callbacks.cpp`.
+
+.. note::
+
+    This functionality is very useful when generating bindings for callbacks in
+    C++ libraries (e.g. GUI libraries, asynchronous networking libraries, etc.).
+
+    The file :file:`tests/test_callbacks.cpp` contains a complete example
+    that demonstrates how to work with callbacks and anonymous functions in
+    more detail.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/index.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/index.rst
new file mode 100644
index 0000000..3ce9ea0
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/index.rst
@@ -0,0 +1,43 @@
+.. _type-conversions:
+
+Type conversions
+################
+
+Apart from enabling cross-language function calls, a fundamental problem
+that a binding tool like pybind11 must address is to provide access to
+native Python types in C++ and vice versa. There are three fundamentally
+different ways to do this—which approach is preferable for a particular type
+depends on the situation at hand.
+
+1. Use a native C++ type everywhere. In this case, the type must be wrapped
+   using pybind11-generated bindings so that Python can interact with it.
+
+2. Use a native Python type everywhere. It will need to be wrapped so that
+   C++ functions can interact with it.
+
+3. Use a native C++ type on the C++ side and a native Python type on the
+   Python side. pybind11 refers to this as a *type conversion*.
+
+   Type conversions are the most "natural" option in the sense that native
+   (non-wrapped) types are used everywhere. The main downside is that a copy
+   of the data must be made on every Python ↔ C++ transition: this is
+   needed since the C++ and Python versions of the same type generally won't
+   have the same memory layout.
+
+   pybind11 can perform many kinds of conversions automatically. An overview
+   is provided in the table ":ref:`conversion_table`".
+
+The following subsections discuss the differences between these options in more
+detail. The main focus in this section is on type conversions, which represent
+the last case of the above list.
+
+.. toctree::
+   :maxdepth: 1
+
+   overview
+   strings
+   stl
+   functional
+   chrono
+   eigen
+   custom
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/overview.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/overview.rst
new file mode 100644
index 0000000..b0e32a5
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/overview.rst
@@ -0,0 +1,165 @@
+Overview
+########
+
+.. rubric:: 1. Native type in C++, wrapper in Python
+
+Exposing a custom C++ type using :class:`py::class_` was covered in detail
+in the :doc:`/classes` section. There, the underlying data structure is
+always the original C++ class while the :class:`py::class_` wrapper provides
+a Python interface. Internally, when an object like this is sent from C++ to
+Python, pybind11 will just add the outer wrapper layer over the native C++
+object. Getting it back from Python is just a matter of peeling off the
+wrapper.
+
+.. rubric:: 2. Wrapper in C++, native type in Python
+
+This is the exact opposite situation. Now, we have a type which is native to
+Python, like a ``tuple`` or a ``list``. One way to get this data into C++ is
+with the :class:`py::object` family of wrappers. These are explained in more
+detail in the :doc:`/advanced/pycpp/object` section. We'll just give a quick
+example here:
+
+.. code-block:: cpp
+
+    void print_list(py::list my_list) {
+        for (auto item : my_list)
+            std::cout << item << " ";
+    }
+
+.. code-block:: pycon
+
+    >>> print_list([1, 2, 3])
+    1 2 3
+
+The Python ``list`` is not converted in any way -- it's just wrapped in a C++
+:class:`py::list` class. At its core it's still a Python object. Copying a
+:class:`py::list` will do the usual reference-counting like in Python.
+Returning the object to Python will just remove the thin wrapper.
+
+.. rubric:: 3. Converting between native C++ and Python types
+
+In the previous two cases we had a native type in one language and a wrapper in
+the other. Now, we have native types on both sides and we convert between them.
+
+.. code-block:: cpp
+
+    void print_vector(const std::vector<int> &v) {
+        for (auto item : v)
+            std::cout << item << "\n";
+    }
+
+.. code-block:: pycon
+
+    >>> print_vector([1, 2, 3])
+    1 2 3
+
+In this case, pybind11 will construct a new ``std::vector<int>`` and copy each
+element from the Python ``list``. The newly constructed object will be passed
+to ``print_vector``. The same thing happens in the other direction: a new
+``list`` is made to match the value returned from C++.
+
+Lots of these conversions are supported out of the box, as shown in the table
+below. They are very convenient, but keep in mind that these conversions are
+fundamentally based on copying data. This is perfectly fine for small immutable
+types but it may become quite expensive for large data structures. This can be
+avoided by overriding the automatic conversion with a custom wrapper (i.e. the
+above-mentioned approach 1). This requires some manual effort and more details
+are available in the :ref:`opaque` section.
+
+.. _conversion_table:
+
+List of all builtin conversions
+-------------------------------
+
+The following basic data types are supported out of the box (some may require
+an additional extension header to be included). To pass other data structures
+as arguments and return values, refer to the section on binding :ref:`classes`.
+
++------------------------------------+---------------------------+-------------------------------+
+|  Data type                         |  Description              | Header file                   |
++====================================+===========================+===============================+
+| ``int8_t``, ``uint8_t``            | 8-bit integers            | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``int16_t``, ``uint16_t``          | 16-bit integers           | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``int32_t``, ``uint32_t``          | 32-bit integers           | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``int64_t``, ``uint64_t``          | 64-bit integers           | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``ssize_t``, ``size_t``            | Platform-dependent size   | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``float``, ``double``              | Floating point types      | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``bool``                           | Two-state Boolean type    | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``char``                           | Character literal         | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``char16_t``                       | UTF-16 character literal  | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``char32_t``                       | UTF-32 character literal  | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``wchar_t``                        | Wide character literal    | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``const char *``                   | UTF-8 string literal      | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``const char16_t *``               | UTF-16 string literal     | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``const char32_t *``               | UTF-32 string literal     | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``const wchar_t *``                | Wide string literal       | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::string``                    | STL dynamic UTF-8 string  | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::u16string``                 | STL dynamic UTF-16 string | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::u32string``                 | STL dynamic UTF-32 string | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::wstring``                   | STL dynamic wide string   | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::string_view``,              | STL C++17 string views    | :file:`pybind11/pybind11.h`   |
+| ``std::u16string_view``, etc.      |                           |                               |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::pair<T1, T2>``              | Pair of two custom types  | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::tuple<...>``                | Arbitrary tuple of types  | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::reference_wrapper<...>``    | Reference type wrapper    | :file:`pybind11/pybind11.h`   |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::complex<T>``                | Complex numbers           | :file:`pybind11/complex.h`    |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::array<T, Size>``            | STL static array          | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::vector<T>``                 | STL dynamic array         | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::deque<T>``                  | STL double-ended queue    | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::valarray<T>``               | STL value array           | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::list<T>``                   | STL linked list           | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::map<T1, T2>``               | STL ordered map           | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::unordered_map<T1, T2>``     | STL unordered map         | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::set<T>``                    | STL ordered set           | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::unordered_set<T>``          | STL unordered set         | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::optional<T>``               | STL optional type (C++17) | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::experimental::optional<T>`` | STL optional type (exp.)  | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::variant<...>``              | Type-safe union (C++17)   | :file:`pybind11/stl.h`        |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::function<...>``             | STL polymorphic function  | :file:`pybind11/functional.h` |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::chrono::duration<...>``     | STL time duration         | :file:`pybind11/chrono.h`     |
++------------------------------------+---------------------------+-------------------------------+
+| ``std::chrono::time_point<...>``   | STL date/time             | :file:`pybind11/chrono.h`     |
++------------------------------------+---------------------------+-------------------------------+
+| ``Eigen::Matrix<...>``             | Eigen: dense matrix       | :file:`pybind11/eigen.h`      |
++------------------------------------+---------------------------+-------------------------------+
+| ``Eigen::Map<...>``                | Eigen: mapped memory      | :file:`pybind11/eigen.h`      |
++------------------------------------+---------------------------+-------------------------------+
+| ``Eigen::SparseMatrix<...>``       | Eigen: sparse matrix      | :file:`pybind11/eigen.h`      |
++------------------------------------+---------------------------+-------------------------------+
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/stl.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/stl.rst
new file mode 100644
index 0000000..70fde0d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/stl.rst
@@ -0,0 +1,240 @@
+STL containers
+##############
+
+Automatic conversion
+====================
+
+When including the additional header file :file:`pybind11/stl.h`, conversions
+between ``std::vector<>``/``std::deque<>``/``std::list<>``/``std::array<>``/``std::valarray<>``,
+``std::set<>``/``std::unordered_set<>``, and
+``std::map<>``/``std::unordered_map<>`` and the Python ``list``, ``set`` and
+``dict`` data structures are automatically enabled. The types ``std::pair<>``
+and ``std::tuple<>`` are already supported out of the box with just the core
+:file:`pybind11/pybind11.h` header.
+
+The major downside of these implicit conversions is that containers must be
+converted (i.e. copied) on every Python->C++ and C++->Python transition, which
+can have implications on the program semantics and performance. Please read the
+next sections for more details and alternative approaches that avoid this.
+
+.. note::
+
+    Arbitrary nesting of any of these types is possible.
+
+.. seealso::
+
+    The file :file:`tests/test_stl.cpp` contains a complete
+    example that demonstrates how to pass STL data types in more detail.
+
+.. _cpp17_container_casters:
+
+C++17 library containers
+========================
+
+The :file:`pybind11/stl.h` header also includes support for ``std::optional<>``
+and ``std::variant<>``. These require a C++17 compiler and standard library.
+In C++14 mode, ``std::experimental::optional<>`` is supported if available.
+
+Various versions of these containers also exist for C++11 (e.g. in Boost).
+pybind11 provides an easy way to specialize the ``type_caster`` for such
+types:
+
+.. code-block:: cpp
+
+    // `boost::optional` as an example -- can be any `std::optional`-like container
+    namespace pybind11 { namespace detail {
+        template <typename T>
+        struct type_caster<boost::optional<T>> : optional_caster<boost::optional<T>> {};
+    }}
+
+The above should be placed in a header file and included in all translation units
+where automatic conversion is needed. Similarly, a specialization can be provided
+for custom variant types:
+
+.. code-block:: cpp
+
+    // `boost::variant` as an example -- can be any `std::variant`-like container
+    namespace pybind11 { namespace detail {
+        template <typename... Ts>
+        struct type_caster<boost::variant<Ts...>> : variant_caster<boost::variant<Ts...>> {};
+
+        // Specifies the function used to visit the variant -- `apply_visitor` instead of `visit`
+        template <>
+        struct visit_helper<boost::variant> {
+            template <typename... Args>
+            static auto call(Args &&...args) -> decltype(boost::apply_visitor(args...)) {
+                return boost::apply_visitor(args...);
+            }
+        };
+    }} // namespace pybind11::detail
+
+The ``visit_helper`` specialization is not required if your ``name::variant`` provides
+a ``name::visit()`` function. For any other function name, the specialization must be
+included to tell pybind11 how to visit the variant.
+
+.. note::
+
+    pybind11 only supports the modern implementation of ``boost::variant``
+    which makes use of variadic templates. This requires Boost 1.56 or newer.
+    Additionally, on Windows, MSVC 2017 is required because ``boost::variant``
+    falls back to the old non-variadic implementation on MSVC 2015.
+
+.. _opaque:
+
+Making opaque types
+===================
+
+pybind11 heavily relies on a template matching mechanism to convert parameters
+and return values that are constructed from STL data types such as vectors,
+linked lists, hash tables, etc. This even works in a recursive manner, for
+instance to deal with lists of hash maps of pairs of elementary and custom
+types, etc.
+
+However, a fundamental limitation of this approach is that internal conversions
+between Python and C++ types involve a copy operation that prevents
+pass-by-reference semantics. What does this mean?
+
+Suppose we bind the following function
+
+.. code-block:: cpp
+
+    void append_1(std::vector<int> &v) {
+       v.push_back(1);
+    }
+
+and call it from Python, the following happens:
+
+.. code-block:: pycon
+
+   >>> v = [5, 6]
+   >>> append_1(v)
+   >>> print(v)
+   [5, 6]
+
+As you can see, when passing STL data structures by reference, modifications
+are not propagated back the Python side. A similar situation arises when
+exposing STL data structures using the ``def_readwrite`` or ``def_readonly``
+functions:
+
+.. code-block:: cpp
+
+    /* ... definition ... */
+
+    class MyClass {
+        std::vector<int> contents;
+    };
+
+    /* ... binding code ... */
+
+    py::class_<MyClass>(m, "MyClass")
+        .def(py::init<>())
+        .def_readwrite("contents", &MyClass::contents);
+
+In this case, properties can be read and written in their entirety. However, an
+``append`` operation involving such a list type has no effect:
+
+.. code-block:: pycon
+
+   >>> m = MyClass()
+   >>> m.contents = [5, 6]
+   >>> print(m.contents)
+   [5, 6]
+   >>> m.contents.append(7)
+   >>> print(m.contents)
+   [5, 6]
+
+Finally, the involved copy operations can be costly when dealing with very
+large lists. To deal with all of the above situations, pybind11 provides a
+macro named ``PYBIND11_MAKE_OPAQUE(T)`` that disables the template-based
+conversion machinery of types, thus rendering them *opaque*. The contents of
+opaque objects are never inspected or extracted, hence they *can* be passed by
+reference. For instance, to turn ``std::vector<int>`` into an opaque type, add
+the declaration
+
+.. code-block:: cpp
+
+    PYBIND11_MAKE_OPAQUE(std::vector<int>);
+
+before any binding code (e.g. invocations to ``class_::def()``, etc.). This
+macro must be specified at the top level (and outside of any namespaces), since
+it adds a template instantiation of ``type_caster``. If your binding code consists of
+multiple compilation units, it must be present in every file (typically via a
+common header) preceding any usage of ``std::vector<int>``. Opaque types must
+also have a corresponding ``class_`` declaration to associate them with a name
+in Python, and to define a set of available operations, e.g.:
+
+.. code-block:: cpp
+
+    py::class_<std::vector<int>>(m, "IntVector")
+        .def(py::init<>())
+        .def("clear", &std::vector<int>::clear)
+        .def("pop_back", &std::vector<int>::pop_back)
+        .def("__len__", [](const std::vector<int> &v) { return v.size(); })
+        .def("__iter__", [](std::vector<int> &v) {
+           return py::make_iterator(v.begin(), v.end());
+        }, py::keep_alive<0, 1>()) /* Keep vector alive while iterator is used */
+        // ....
+
+.. seealso::
+
+    The file :file:`tests/test_opaque_types.cpp` contains a complete
+    example that demonstrates how to create and expose opaque types using
+    pybind11 in more detail.
+
+.. _stl_bind:
+
+Binding STL containers
+======================
+
+The ability to expose STL containers as native Python objects is a fairly
+common request, hence pybind11 also provides an optional header file named
+:file:`pybind11/stl_bind.h` that does exactly this. The mapped containers try
+to match the behavior of their native Python counterparts as much as possible.
+
+The following example showcases usage of :file:`pybind11/stl_bind.h`:
+
+.. code-block:: cpp
+
+    // Don't forget this
+    #include <pybind11/stl_bind.h>
+
+    PYBIND11_MAKE_OPAQUE(std::vector<int>);
+    PYBIND11_MAKE_OPAQUE(std::map<std::string, double>);
+
+    // ...
+
+    // later in binding code:
+    py::bind_vector<std::vector<int>>(m, "VectorInt");
+    py::bind_map<std::map<std::string, double>>(m, "MapStringDouble");
+
+When binding STL containers pybind11 considers the types of the container's
+elements to decide whether the container should be confined to the local module
+(via the :ref:`module_local` feature).  If the container element types are
+anything other than already-bound custom types bound without
+``py::module_local()`` the container binding will have ``py::module_local()``
+applied.  This includes converting types such as numeric types, strings, Eigen
+types; and types that have not yet been bound at the time of the stl container
+binding.  This module-local binding is designed to avoid potential conflicts
+between module bindings (for example, from two separate modules each attempting
+to bind ``std::vector<int>`` as a python type).
+
+It is possible to override this behavior to force a definition to be either
+module-local or global.  To do so, you can pass the attributes
+``py::module_local()`` (to make the binding module-local) or
+``py::module_local(false)`` (to make the binding global) into the
+``py::bind_vector`` or ``py::bind_map`` arguments:
+
+.. code-block:: cpp
+
+    py::bind_vector<std::vector<int>>(m, "VectorInt", py::module_local(false));
+
+Note, however, that such a global binding would make it impossible to load this
+module at the same time as any other pybind module that also attempts to bind
+the same container type (``std::vector<int>`` in the above example).
+
+See :ref:`module_local` for more details on module-local bindings.
+
+.. seealso::
+
+    The file :file:`tests/test_stl_binders.cpp` shows how to use the
+    convenience STL container wrappers.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/strings.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/strings.rst
new file mode 100644
index 0000000..e25701e
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/cast/strings.rst
@@ -0,0 +1,305 @@
+Strings, bytes and Unicode conversions
+######################################
+
+.. note::
+
+    This section discusses string handling in terms of Python 3 strings. For
+    Python 2.7, replace all occurrences of ``str`` with ``unicode`` and
+    ``bytes`` with ``str``.  Python 2.7 users may find it best to use ``from
+    __future__ import unicode_literals`` to avoid unintentionally using ``str``
+    instead of ``unicode``.
+
+Passing Python strings to C++
+=============================
+
+When a Python ``str`` is passed from Python to a C++ function that accepts
+``std::string`` or ``char *`` as arguments, pybind11 will encode the Python
+string to UTF-8. All Python ``str`` can be encoded in UTF-8, so this operation
+does not fail.
+
+The C++ language is encoding agnostic. It is the responsibility of the
+programmer to track encodings. It's often easiest to simply `use UTF-8
+everywhere <http://utf8everywhere.org/>`_.
+
+.. code-block:: c++
+
+    m.def("utf8_test",
+        [](const std::string &s) {
+            cout << "utf-8 is icing on the cake.\n";
+            cout << s;
+        }
+    );
+    m.def("utf8_charptr",
+        [](const char *s) {
+            cout << "My favorite food is\n";
+            cout << s;
+        }
+    );
+
+.. code-block:: python
+
+    >>> utf8_test('🎂')
+    utf-8 is icing on the cake.
+    🎂
+
+    >>> utf8_charptr('🍕')
+    My favorite food is
+    🍕
+
+.. note::
+
+    Some terminal emulators do not support UTF-8 or emoji fonts and may not
+    display the example above correctly.
+
+The results are the same whether the C++ function accepts arguments by value or
+reference, and whether or not ``const`` is used.
+
+Passing bytes to C++
+--------------------
+
+A Python ``bytes`` object will be passed to C++ functions that accept
+``std::string`` or ``char*`` *without* conversion.  On Python 3, in order to
+make a function *only* accept ``bytes`` (and not ``str``), declare it as taking
+a ``py::bytes`` argument.
+
+
+Returning C++ strings to Python
+===============================
+
+When a C++ function returns a ``std::string`` or ``char*`` to a Python caller,
+**pybind11 will assume that the string is valid UTF-8** and will decode it to a
+native Python ``str``, using the same API as Python uses to perform
+``bytes.decode('utf-8')``. If this implicit conversion fails, pybind11 will
+raise a ``UnicodeDecodeError``.
+
+.. code-block:: c++
+
+    m.def("std_string_return",
+        []() {
+            return std::string("This string needs to be UTF-8 encoded");
+        }
+    );
+
+.. code-block:: python
+
+    >>> isinstance(example.std_string_return(), str)
+    True
+
+
+Because UTF-8 is inclusive of pure ASCII, there is never any issue with
+returning a pure ASCII string to Python. If there is any possibility that the
+string is not pure ASCII, it is necessary to ensure the encoding is valid
+UTF-8.
+
+.. warning::
+
+    Implicit conversion assumes that a returned ``char *`` is null-terminated.
+    If there is no null terminator a buffer overrun will occur.
+
+Explicit conversions
+--------------------
+
+If some C++ code constructs a ``std::string`` that is not a UTF-8 string, one
+can perform a explicit conversion and return a ``py::str`` object. Explicit
+conversion has the same overhead as implicit conversion.
+
+.. code-block:: c++
+
+    // This uses the Python C API to convert Latin-1 to Unicode
+    m.def("str_output",
+        []() {
+            std::string s = "Send your r\xe9sum\xe9 to Alice in HR"; // Latin-1
+            py::str py_s = PyUnicode_DecodeLatin1(s.data(), s.length());
+            return py_s;
+        }
+    );
+
+.. code-block:: python
+
+    >>> str_output()
+    'Send your résumé to Alice in HR'
+
+The `Python C API
+<https://docs.python.org/3/c-api/unicode.html#built-in-codecs>`_ provides
+several built-in codecs.
+
+
+One could also use a third party encoding library such as libiconv to transcode
+to UTF-8.
+
+Return C++ strings without conversion
+-------------------------------------
+
+If the data in a C++ ``std::string`` does not represent text and should be
+returned to Python as ``bytes``, then one can return the data as a
+``py::bytes`` object.
+
+.. code-block:: c++
+
+    m.def("return_bytes",
+        []() {
+            std::string s("\xba\xd0\xba\xd0");  // Not valid UTF-8
+            return py::bytes(s);  // Return the data without transcoding
+        }
+    );
+
+.. code-block:: python
+
+    >>> example.return_bytes()
+    b'\xba\xd0\xba\xd0'
+
+
+Note the asymmetry: pybind11 will convert ``bytes`` to ``std::string`` without
+encoding, but cannot convert ``std::string`` back to ``bytes`` implicitly.
+
+.. code-block:: c++
+
+    m.def("asymmetry",
+        [](std::string s) {  // Accepts str or bytes from Python
+            return s;  // Looks harmless, but implicitly converts to str
+        }
+    );
+
+.. code-block:: python
+
+    >>> isinstance(example.asymmetry(b"have some bytes"), str)
+    True
+
+    >>> example.asymmetry(b"\xba\xd0\xba\xd0")  # invalid utf-8 as bytes
+    UnicodeDecodeError: 'utf-8' codec can't decode byte 0xba in position 0: invalid start byte
+
+
+Wide character strings
+======================
+
+When a Python ``str`` is passed to a C++ function expecting ``std::wstring``,
+``wchar_t*``, ``std::u16string`` or ``std::u32string``, the ``str`` will be
+encoded to UTF-16 or UTF-32 depending on how the C++ compiler implements each
+type, in the platform's native endianness. When strings of these types are
+returned, they are assumed to contain valid UTF-16 or UTF-32, and will be
+decoded to Python ``str``.
+
+.. code-block:: c++
+
+    #define UNICODE
+    #include <windows.h>
+
+    m.def("set_window_text",
+        [](HWND hwnd, std::wstring s) {
+            // Call SetWindowText with null-terminated UTF-16 string
+            ::SetWindowText(hwnd, s.c_str());
+        }
+    );
+    m.def("get_window_text",
+        [](HWND hwnd) {
+            const int buffer_size = ::GetWindowTextLength(hwnd) + 1;
+            auto buffer = std::make_unique< wchar_t[] >(buffer_size);
+
+            ::GetWindowText(hwnd, buffer.data(), buffer_size);
+
+            std::wstring text(buffer.get());
+
+            // wstring will be converted to Python str
+            return text;
+        }
+    );
+
+.. warning::
+
+    Wide character strings may not work as described on Python 2.7 or Python
+    3.3 compiled with ``--enable-unicode=ucs2``.
+
+Strings in multibyte encodings such as Shift-JIS must transcoded to a
+UTF-8/16/32 before being returned to Python.
+
+
+Character literals
+==================
+
+C++ functions that accept character literals as input will receive the first
+character of a Python ``str`` as their input. If the string is longer than one
+Unicode character, trailing characters will be ignored.
+
+When a character literal is returned from C++ (such as a ``char`` or a
+``wchar_t``), it will be converted to a ``str`` that represents the single
+character.
+
+.. code-block:: c++
+
+    m.def("pass_char", [](char c) { return c; });
+    m.def("pass_wchar", [](wchar_t w) { return w; });
+
+.. code-block:: python
+
+    >>> example.pass_char('A')
+    'A'
+
+While C++ will cast integers to character types (``char c = 0x65;``), pybind11
+does not convert Python integers to characters implicitly. The Python function
+``chr()`` can be used to convert integers to characters.
+
+.. code-block:: python
+
+    >>> example.pass_char(0x65)
+    TypeError
+
+    >>> example.pass_char(chr(0x65))
+    'A'
+
+If the desire is to work with an 8-bit integer, use ``int8_t`` or ``uint8_t``
+as the argument type.
+
+Grapheme clusters
+-----------------
+
+A single grapheme may be represented by two or more Unicode characters. For
+example 'é' is usually represented as U+00E9 but can also be expressed as the
+combining character sequence U+0065 U+0301 (that is, the letter 'e' followed by
+a combining acute accent). The combining character will be lost if the
+two-character sequence is passed as an argument, even though it renders as a
+single grapheme.
+
+.. code-block:: python
+
+    >>> example.pass_wchar('é')
+    'é'
+
+    >>> combining_e_acute = 'e' + '\u0301'
+
+    >>> combining_e_acute
+    'é'
+
+    >>> combining_e_acute == 'é'
+    False
+
+    >>> example.pass_wchar(combining_e_acute)
+    'e'
+
+Normalizing combining characters before passing the character literal to C++
+may resolve *some* of these issues:
+
+.. code-block:: python
+
+    >>> example.pass_wchar(unicodedata.normalize('NFC', combining_e_acute))
+    'é'
+
+In some languages (Thai for example), there are `graphemes that cannot be
+expressed as a single Unicode code point
+<http://unicode.org/reports/tr29/#Grapheme_Cluster_Boundaries>`_, so there is
+no way to capture them in a C++ character type.
+
+
+C++17 string views
+==================
+
+C++17 string views are automatically supported when compiling in C++17 mode.
+They follow the same rules for encoding and decoding as the corresponding STL
+string type (for example, a ``std::u16string_view`` argument will be passed
+UTF-16-encoded data, and a returned ``std::string_view`` will be decoded as
+UTF-8).
+
+References
+==========
+
+* `The Absolute Minimum Every Software Developer Absolutely, Positively Must Know About Unicode and Character Sets (No Excuses!) <https://www.joelonsoftware.com/2003/10/08/the-absolute-minimum-every-software-developer-absolutely-positively-must-know-about-unicode-and-character-sets-no-excuses/>`_
+* `C++ - Using STL Strings at Win32 API Boundaries <https://msdn.microsoft.com/en-ca/magazine/mt238407.aspx>`_
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/classes.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/classes.rst
new file mode 100644
index 0000000..4927902
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/classes.rst
@@ -0,0 +1,1261 @@
+Classes
+#######
+
+This section presents advanced binding code for classes and it is assumed
+that you are already familiar with the basics from :doc:`/classes`.
+
+.. _overriding_virtuals:
+
+Overriding virtual functions in Python
+======================================
+
+Suppose that a C++ class or interface has a virtual function that we'd like to
+to override from within Python (we'll focus on the class ``Animal``; ``Dog`` is
+given as a specific example of how one would do this with traditional C++
+code).
+
+.. code-block:: cpp
+
+    class Animal {
+    public:
+        virtual ~Animal() { }
+        virtual std::string go(int n_times) = 0;
+    };
+
+    class Dog : public Animal {
+    public:
+        std::string go(int n_times) override {
+            std::string result;
+            for (int i=0; i<n_times; ++i)
+                result += "woof! ";
+            return result;
+        }
+    };
+
+Let's also suppose that we are given a plain function which calls the
+function ``go()`` on an arbitrary ``Animal`` instance.
+
+.. code-block:: cpp
+
+    std::string call_go(Animal *animal) {
+        return animal->go(3);
+    }
+
+Normally, the binding code for these classes would look as follows:
+
+.. code-block:: cpp
+
+    PYBIND11_MODULE(example, m) {
+        py::class_<Animal>(m, "Animal")
+            .def("go", &Animal::go);
+
+        py::class_<Dog, Animal>(m, "Dog")
+            .def(py::init<>());
+
+        m.def("call_go", &call_go);
+    }
+
+However, these bindings are impossible to extend: ``Animal`` is not
+constructible, and we clearly require some kind of "trampoline" that
+redirects virtual calls back to Python.
+
+Defining a new type of ``Animal`` from within Python is possible but requires a
+helper class that is defined as follows:
+
+.. code-block:: cpp
+
+    class PyAnimal : public Animal {
+    public:
+        /* Inherit the constructors */
+        using Animal::Animal;
+
+        /* Trampoline (need one for each virtual function) */
+        std::string go(int n_times) override {
+            PYBIND11_OVERRIDE_PURE(
+                std::string, /* Return type */
+                Animal,      /* Parent class */
+                go,          /* Name of function in C++ (must match Python name) */
+                n_times      /* Argument(s) */
+            );
+        }
+    };
+
+The macro :c:macro:`PYBIND11_OVERRIDE_PURE` should be used for pure virtual
+functions, and :c:macro:`PYBIND11_OVERRIDE` should be used for functions which have
+a default implementation.  There are also two alternate macros
+:c:macro:`PYBIND11_OVERRIDE_PURE_NAME` and :c:macro:`PYBIND11_OVERRIDE_NAME` which
+take a string-valued name argument between the *Parent class* and *Name of the
+function* slots, which defines the name of function in Python. This is required
+when the C++ and Python versions of the
+function have different names, e.g.  ``operator()`` vs ``__call__``.
+
+The binding code also needs a few minor adaptations (highlighted):
+
+.. code-block:: cpp
+    :emphasize-lines: 2,3
+
+    PYBIND11_MODULE(example, m) {
+        py::class_<Animal, PyAnimal /* <--- trampoline*/>(m, "Animal")
+            .def(py::init<>())
+            .def("go", &Animal::go);
+
+        py::class_<Dog, Animal>(m, "Dog")
+            .def(py::init<>());
+
+        m.def("call_go", &call_go);
+    }
+
+Importantly, pybind11 is made aware of the trampoline helper class by
+specifying it as an extra template argument to :class:`class_`. (This can also
+be combined with other template arguments such as a custom holder type; the
+order of template types does not matter).  Following this, we are able to
+define a constructor as usual.
+
+Bindings should be made against the actual class, not the trampoline helper class.
+
+.. code-block:: cpp
+    :emphasize-lines: 3
+
+    py::class_<Animal, PyAnimal /* <--- trampoline*/>(m, "Animal");
+        .def(py::init<>())
+        .def("go", &PyAnimal::go); /* <--- THIS IS WRONG, use &Animal::go */
+
+Note, however, that the above is sufficient for allowing python classes to
+extend ``Animal``, but not ``Dog``: see :ref:`virtual_and_inheritance` for the
+necessary steps required to providing proper overriding support for inherited
+classes.
+
+The Python session below shows how to override ``Animal::go`` and invoke it via
+a virtual method call.
+
+.. code-block:: pycon
+
+    >>> from example import *
+    >>> d = Dog()
+    >>> call_go(d)
+    u'woof! woof! woof! '
+    >>> class Cat(Animal):
+    ...     def go(self, n_times):
+    ...             return "meow! " * n_times
+    ...
+    >>> c = Cat()
+    >>> call_go(c)
+    u'meow! meow! meow! '
+
+If you are defining a custom constructor in a derived Python class, you *must*
+ensure that you explicitly call the bound C++ constructor using ``__init__``,
+*regardless* of whether it is a default constructor or not. Otherwise, the
+memory for the C++ portion of the instance will be left uninitialized, which
+will generally leave the C++ instance in an invalid state and cause undefined
+behavior if the C++ instance is subsequently used.
+
+.. versionchanged:: 2.6
+   The default pybind11 metaclass will throw a ``TypeError`` when it detects
+   that ``__init__`` was not called by a derived class.
+
+Here is an example:
+
+.. code-block:: python
+
+    class Dachshund(Dog):
+        def __init__(self, name):
+            Dog.__init__(self) # Without this, a TypeError is raised.
+            self.name = name
+        def bark(self):
+            return "yap!"
+
+Note that a direct ``__init__`` constructor *should be called*, and ``super()``
+should not be used. For simple cases of linear inheritance, ``super()``
+may work, but once you begin mixing Python and C++ multiple inheritance,
+things will fall apart due to differences between Python's MRO and C++'s
+mechanisms.
+
+Please take a look at the :ref:`macro_notes` before using this feature.
+
+.. note::
+
+    When the overridden type returns a reference or pointer to a type that
+    pybind11 converts from Python (for example, numeric values, std::string,
+    and other built-in value-converting types), there are some limitations to
+    be aware of:
+
+    - because in these cases there is no C++ variable to reference (the value
+      is stored in the referenced Python variable), pybind11 provides one in
+      the PYBIND11_OVERRIDE macros (when needed) with static storage duration.
+      Note that this means that invoking the overridden method on *any*
+      instance will change the referenced value stored in *all* instances of
+      that type.
+
+    - Attempts to modify a non-const reference will not have the desired
+      effect: it will change only the static cache variable, but this change
+      will not propagate to underlying Python instance, and the change will be
+      replaced the next time the override is invoked.
+
+.. warning::
+
+    The :c:macro:`PYBIND11_OVERRIDE` and accompanying macros used to be called
+    ``PYBIND11_OVERLOAD`` up until pybind11 v2.5.0, and :func:`get_override`
+    used to be called ``get_overload``. This naming was corrected and the older
+    macro and function names may soon be deprecated, in order to reduce
+    confusion with overloaded functions and methods and ``py::overload_cast``
+    (see :ref:`classes`).
+
+.. seealso::
+
+    The file :file:`tests/test_virtual_functions.cpp` contains a complete
+    example that demonstrates how to override virtual functions using pybind11
+    in more detail.
+
+.. _virtual_and_inheritance:
+
+Combining virtual functions and inheritance
+===========================================
+
+When combining virtual methods with inheritance, you need to be sure to provide
+an override for each method for which you want to allow overrides from derived
+python classes.  For example, suppose we extend the above ``Animal``/``Dog``
+example as follows:
+
+.. code-block:: cpp
+
+    class Animal {
+    public:
+        virtual std::string go(int n_times) = 0;
+        virtual std::string name() { return "unknown"; }
+    };
+    class Dog : public Animal {
+    public:
+        std::string go(int n_times) override {
+            std::string result;
+            for (int i=0; i<n_times; ++i)
+                result += bark() + " ";
+            return result;
+        }
+        virtual std::string bark() { return "woof!"; }
+    };
+
+then the trampoline class for ``Animal`` must, as described in the previous
+section, override ``go()`` and ``name()``, but in order to allow python code to
+inherit properly from ``Dog``, we also need a trampoline class for ``Dog`` that
+overrides both the added ``bark()`` method *and* the ``go()`` and ``name()``
+methods inherited from ``Animal`` (even though ``Dog`` doesn't directly
+override the ``name()`` method):
+
+.. code-block:: cpp
+
+    class PyAnimal : public Animal {
+    public:
+        using Animal::Animal; // Inherit constructors
+        std::string go(int n_times) override { PYBIND11_OVERRIDE_PURE(std::string, Animal, go, n_times); }
+        std::string name() override { PYBIND11_OVERRIDE(std::string, Animal, name, ); }
+    };
+    class PyDog : public Dog {
+    public:
+        using Dog::Dog; // Inherit constructors
+        std::string go(int n_times) override { PYBIND11_OVERRIDE(std::string, Dog, go, n_times); }
+        std::string name() override { PYBIND11_OVERRIDE(std::string, Dog, name, ); }
+        std::string bark() override { PYBIND11_OVERRIDE(std::string, Dog, bark, ); }
+    };
+
+.. note::
+
+    Note the trailing commas in the ``PYBIND11_OVERIDE`` calls to ``name()``
+    and ``bark()``. These are needed to portably implement a trampoline for a
+    function that does not take any arguments. For functions that take
+    a nonzero number of arguments, the trailing comma must be omitted.
+
+A registered class derived from a pybind11-registered class with virtual
+methods requires a similar trampoline class, *even if* it doesn't explicitly
+declare or override any virtual methods itself:
+
+.. code-block:: cpp
+
+    class Husky : public Dog {};
+    class PyHusky : public Husky {
+    public:
+        using Husky::Husky; // Inherit constructors
+        std::string go(int n_times) override { PYBIND11_OVERRIDE_PURE(std::string, Husky, go, n_times); }
+        std::string name() override { PYBIND11_OVERRIDE(std::string, Husky, name, ); }
+        std::string bark() override { PYBIND11_OVERRIDE(std::string, Husky, bark, ); }
+    };
+
+There is, however, a technique that can be used to avoid this duplication
+(which can be especially helpful for a base class with several virtual
+methods).  The technique involves using template trampoline classes, as
+follows:
+
+.. code-block:: cpp
+
+    template <class AnimalBase = Animal> class PyAnimal : public AnimalBase {
+    public:
+        using AnimalBase::AnimalBase; // Inherit constructors
+        std::string go(int n_times) override { PYBIND11_OVERRIDE_PURE(std::string, AnimalBase, go, n_times); }
+        std::string name() override { PYBIND11_OVERRIDE(std::string, AnimalBase, name, ); }
+    };
+    template <class DogBase = Dog> class PyDog : public PyAnimal<DogBase> {
+    public:
+        using PyAnimal<DogBase>::PyAnimal; // Inherit constructors
+        // Override PyAnimal's pure virtual go() with a non-pure one:
+        std::string go(int n_times) override { PYBIND11_OVERRIDE(std::string, DogBase, go, n_times); }
+        std::string bark() override { PYBIND11_OVERRIDE(std::string, DogBase, bark, ); }
+    };
+
+This technique has the advantage of requiring just one trampoline method to be
+declared per virtual method and pure virtual method override.  It does,
+however, require the compiler to generate at least as many methods (and
+possibly more, if both pure virtual and overridden pure virtual methods are
+exposed, as above).
+
+The classes are then registered with pybind11 using:
+
+.. code-block:: cpp
+
+    py::class_<Animal, PyAnimal<>> animal(m, "Animal");
+    py::class_<Dog, Animal, PyDog<>> dog(m, "Dog");
+    py::class_<Husky, Dog, PyDog<Husky>> husky(m, "Husky");
+    // ... add animal, dog, husky definitions
+
+Note that ``Husky`` did not require a dedicated trampoline template class at
+all, since it neither declares any new virtual methods nor provides any pure
+virtual method implementations.
+
+With either the repeated-virtuals or templated trampoline methods in place, you
+can now create a python class that inherits from ``Dog``:
+
+.. code-block:: python
+
+    class ShihTzu(Dog):
+        def bark(self):
+            return "yip!"
+
+.. seealso::
+
+    See the file :file:`tests/test_virtual_functions.cpp` for complete examples
+    using both the duplication and templated trampoline approaches.
+
+.. _extended_aliases:
+
+Extended trampoline class functionality
+=======================================
+
+.. _extended_class_functionality_forced_trampoline:
+
+Forced trampoline class initialisation
+--------------------------------------
+The trampoline classes described in the previous sections are, by default, only
+initialized when needed.  More specifically, they are initialized when a python
+class actually inherits from a registered type (instead of merely creating an
+instance of the registered type), or when a registered constructor is only
+valid for the trampoline class but not the registered class.  This is primarily
+for performance reasons: when the trampoline class is not needed for anything
+except virtual method dispatching, not initializing the trampoline class
+improves performance by avoiding needing to do a run-time check to see if the
+inheriting python instance has an overridden method.
+
+Sometimes, however, it is useful to always initialize a trampoline class as an
+intermediate class that does more than just handle virtual method dispatching.
+For example, such a class might perform extra class initialization, extra
+destruction operations, and might define new members and methods to enable a
+more python-like interface to a class.
+
+In order to tell pybind11 that it should *always* initialize the trampoline
+class when creating new instances of a type, the class constructors should be
+declared using ``py::init_alias<Args, ...>()`` instead of the usual
+``py::init<Args, ...>()``.  This forces construction via the trampoline class,
+ensuring member initialization and (eventual) destruction.
+
+.. seealso::
+
+    See the file :file:`tests/test_virtual_functions.cpp` for complete examples
+    showing both normal and forced trampoline instantiation.
+
+Different method signatures
+---------------------------
+The macro's introduced in :ref:`overriding_virtuals` cover most of the standard
+use cases when exposing C++ classes to Python. Sometimes it is hard or unwieldy
+to create a direct one-on-one mapping between the arguments and method return
+type.
+
+An example would be when the C++ signature contains output arguments using
+references (See also :ref:`faq_reference_arguments`). Another way of solving
+this is to use the method body of the trampoline class to do conversions to the
+input and return of the Python method.
+
+The main building block to do so is the :func:`get_override`, this function
+allows retrieving a method implemented in Python from within the trampoline's
+methods. Consider for example a C++ method which has the signature
+``bool myMethod(int32_t& value)``, where the return indicates whether
+something should be done with the ``value``. This can be made convenient on the
+Python side by allowing the Python function to return ``None`` or an ``int``:
+
+.. code-block:: cpp
+
+    bool MyClass::myMethod(int32_t& value)
+    {
+        pybind11::gil_scoped_acquire gil;  // Acquire the GIL while in this scope.
+        // Try to look up the overridden method on the Python side.
+        pybind11::function override = pybind11::get_override(this, "myMethod");
+        if (override) {  // method is found
+            auto obj = override(value);  // Call the Python function.
+            if (py::isinstance<py::int_>(obj)) {  // check if it returned a Python integer type
+                value = obj.cast<int32_t>();  // Cast it and assign it to the value.
+                return true;  // Return true; value should be used.
+            } else {
+                return false;  // Python returned none, return false.
+            }
+        }
+        return false;  // Alternatively return MyClass::myMethod(value);
+    }
+
+
+.. _custom_constructors:
+
+Custom constructors
+===================
+
+The syntax for binding constructors was previously introduced, but it only
+works when a constructor of the appropriate arguments actually exists on the
+C++ side.  To extend this to more general cases, pybind11 makes it possible
+to bind factory functions as constructors. For example, suppose you have a
+class like this:
+
+.. code-block:: cpp
+
+    class Example {
+    private:
+        Example(int); // private constructor
+    public:
+        // Factory function:
+        static Example create(int a) { return Example(a); }
+    };
+
+    py::class_<Example>(m, "Example")
+        .def(py::init(&Example::create));
+
+While it is possible to create a straightforward binding of the static
+``create`` method, it may sometimes be preferable to expose it as a constructor
+on the Python side. This can be accomplished by calling ``.def(py::init(...))``
+with the function reference returning the new instance passed as an argument.
+It is also possible to use this approach to bind a function returning a new
+instance by raw pointer or by the holder (e.g. ``std::unique_ptr``).
+
+The following example shows the different approaches:
+
+.. code-block:: cpp
+
+    class Example {
+    private:
+        Example(int); // private constructor
+    public:
+        // Factory function - returned by value:
+        static Example create(int a) { return Example(a); }
+
+        // These constructors are publicly callable:
+        Example(double);
+        Example(int, int);
+        Example(std::string);
+    };
+
+    py::class_<Example>(m, "Example")
+        // Bind the factory function as a constructor:
+        .def(py::init(&Example::create))
+        // Bind a lambda function returning a pointer wrapped in a holder:
+        .def(py::init([](std::string arg) {
+            return std::unique_ptr<Example>(new Example(arg));
+        }))
+        // Return a raw pointer:
+        .def(py::init([](int a, int b) { return new Example(a, b); }))
+        // You can mix the above with regular C++ constructor bindings as well:
+        .def(py::init<double>())
+        ;
+
+When the constructor is invoked from Python, pybind11 will call the factory
+function and store the resulting C++ instance in the Python instance.
+
+When combining factory functions constructors with :ref:`virtual function
+trampolines <overriding_virtuals>` there are two approaches.  The first is to
+add a constructor to the alias class that takes a base value by
+rvalue-reference.  If such a constructor is available, it will be used to
+construct an alias instance from the value returned by the factory function.
+The second option is to provide two factory functions to ``py::init()``: the
+first will be invoked when no alias class is required (i.e. when the class is
+being used but not inherited from in Python), and the second will be invoked
+when an alias is required.
+
+You can also specify a single factory function that always returns an alias
+instance: this will result in behaviour similar to ``py::init_alias<...>()``,
+as described in the :ref:`extended trampoline class documentation
+<extended_aliases>`.
+
+The following example shows the different factory approaches for a class with
+an alias:
+
+.. code-block:: cpp
+
+    #include <pybind11/factory.h>
+    class Example {
+    public:
+        // ...
+        virtual ~Example() = default;
+    };
+    class PyExample : public Example {
+    public:
+        using Example::Example;
+        PyExample(Example &&base) : Example(std::move(base)) {}
+    };
+    py::class_<Example, PyExample>(m, "Example")
+        // Returns an Example pointer.  If a PyExample is needed, the Example
+        // instance will be moved via the extra constructor in PyExample, above.
+        .def(py::init([]() { return new Example(); }))
+        // Two callbacks:
+        .def(py::init([]() { return new Example(); } /* no alias needed */,
+                      []() { return new PyExample(); } /* alias needed */))
+        // *Always* returns an alias instance (like py::init_alias<>())
+        .def(py::init([]() { return new PyExample(); }))
+        ;
+
+Brace initialization
+--------------------
+
+``pybind11::init<>`` internally uses C++11 brace initialization to call the
+constructor of the target class. This means that it can be used to bind
+*implicit* constructors as well:
+
+.. code-block:: cpp
+
+    struct Aggregate {
+        int a;
+        std::string b;
+    };
+
+    py::class_<Aggregate>(m, "Aggregate")
+        .def(py::init<int, const std::string &>());
+
+.. note::
+
+    Note that brace initialization preferentially invokes constructor overloads
+    taking a ``std::initializer_list``. In the rare event that this causes an
+    issue, you can work around it by using ``py::init(...)`` with a lambda
+    function that constructs the new object as desired.
+
+.. _classes_with_non_public_destructors:
+
+Non-public destructors
+======================
+
+If a class has a private or protected destructor (as might e.g. be the case in
+a singleton pattern), a compile error will occur when creating bindings via
+pybind11. The underlying issue is that the ``std::unique_ptr`` holder type that
+is responsible for managing the lifetime of instances will reference the
+destructor even if no deallocations ever take place. In order to expose classes
+with private or protected destructors, it is possible to override the holder
+type via a holder type argument to ``class_``. Pybind11 provides a helper class
+``py::nodelete`` that disables any destructor invocations. In this case, it is
+crucial that instances are deallocated on the C++ side to avoid memory leaks.
+
+.. code-block:: cpp
+
+    /* ... definition ... */
+
+    class MyClass {
+    private:
+        ~MyClass() { }
+    };
+
+    /* ... binding code ... */
+
+    py::class_<MyClass, std::unique_ptr<MyClass, py::nodelete>>(m, "MyClass")
+        .def(py::init<>())
+
+.. _destructors_that_call_python:
+
+Destructors that call Python
+============================
+
+If a Python function is invoked from a C++ destructor, an exception may be thrown
+of type :class:`error_already_set`. If this error is thrown out of a class destructor,
+``std::terminate()`` will be called, terminating the process. Class destructors
+must catch all exceptions of type :class:`error_already_set` to discard the Python
+exception using :func:`error_already_set::discard_as_unraisable`.
+
+Every Python function should be treated as *possibly throwing*. When a Python generator
+stops yielding items, Python will throw a ``StopIteration`` exception, which can pass
+though C++ destructors if the generator's stack frame holds the last reference to C++
+objects.
+
+For more information, see :ref:`the documentation on exceptions <unraisable_exceptions>`.
+
+.. code-block:: cpp
+
+    class MyClass {
+    public:
+        ~MyClass() {
+            try {
+                py::print("Even printing is dangerous in a destructor");
+                py::exec("raise ValueError('This is an unraisable exception')");
+            } catch (py::error_already_set &e) {
+                // error_context should be information about where/why the occurred,
+                // e.g. use __func__ to get the name of the current function
+                e.discard_as_unraisable(__func__);
+            }
+        }
+    };
+
+.. note::
+
+    pybind11 does not support C++ destructors marked ``noexcept(false)``.
+
+.. versionadded:: 2.6
+
+.. _implicit_conversions:
+
+Implicit conversions
+====================
+
+Suppose that instances of two types ``A`` and ``B`` are used in a project, and
+that an ``A`` can easily be converted into an instance of type ``B`` (examples of this
+could be a fixed and an arbitrary precision number type).
+
+.. code-block:: cpp
+
+    py::class_<A>(m, "A")
+        /// ... members ...
+
+    py::class_<B>(m, "B")
+        .def(py::init<A>())
+        /// ... members ...
+
+    m.def("func",
+        [](const B &) { /* .... */ }
+    );
+
+To invoke the function ``func`` using a variable ``a`` containing an ``A``
+instance, we'd have to write ``func(B(a))`` in Python. On the other hand, C++
+will automatically apply an implicit type conversion, which makes it possible
+to directly write ``func(a)``.
+
+In this situation (i.e. where ``B`` has a constructor that converts from
+``A``), the following statement enables similar implicit conversions on the
+Python side:
+
+.. code-block:: cpp
+
+    py::implicitly_convertible<A, B>();
+
+.. note::
+
+    Implicit conversions from ``A`` to ``B`` only work when ``B`` is a custom
+    data type that is exposed to Python via pybind11.
+
+    To prevent runaway recursion, implicit conversions are non-reentrant: an
+    implicit conversion invoked as part of another implicit conversion of the
+    same type (i.e. from ``A`` to ``B``) will fail.
+
+.. _static_properties:
+
+Static properties
+=================
+
+The section on :ref:`properties` discussed the creation of instance properties
+that are implemented in terms of C++ getters and setters.
+
+Static properties can also be created in a similar way to expose getters and
+setters of static class attributes. Note that the implicit ``self`` argument
+also exists in this case and is used to pass the Python ``type`` subclass
+instance. This parameter will often not be needed by the C++ side, and the
+following example illustrates how to instantiate a lambda getter function
+that ignores it:
+
+.. code-block:: cpp
+
+    py::class_<Foo>(m, "Foo")
+        .def_property_readonly_static("foo", [](py::object /* self */) { return Foo(); });
+
+Operator overloading
+====================
+
+Suppose that we're given the following ``Vector2`` class with a vector addition
+and scalar multiplication operation, all implemented using overloaded operators
+in C++.
+
+.. code-block:: cpp
+
+    class Vector2 {
+    public:
+        Vector2(float x, float y) : x(x), y(y) { }
+
+        Vector2 operator+(const Vector2 &v) const { return Vector2(x + v.x, y + v.y); }
+        Vector2 operator*(float value) const { return Vector2(x * value, y * value); }
+        Vector2& operator+=(const Vector2 &v) { x += v.x; y += v.y; return *this; }
+        Vector2& operator*=(float v) { x *= v; y *= v; return *this; }
+
+        friend Vector2 operator*(float f, const Vector2 &v) {
+            return Vector2(f * v.x, f * v.y);
+        }
+
+        std::string toString() const {
+            return "[" + std::to_string(x) + ", " + std::to_string(y) + "]";
+        }
+    private:
+        float x, y;
+    };
+
+The following snippet shows how the above operators can be conveniently exposed
+to Python.
+
+.. code-block:: cpp
+
+    #include <pybind11/operators.h>
+
+    PYBIND11_MODULE(example, m) {
+        py::class_<Vector2>(m, "Vector2")
+            .def(py::init<float, float>())
+            .def(py::self + py::self)
+            .def(py::self += py::self)
+            .def(py::self *= float())
+            .def(float() * py::self)
+            .def(py::self * float())
+            .def(-py::self)
+            .def("__repr__", &Vector2::toString);
+    }
+
+Note that a line like
+
+.. code-block:: cpp
+
+            .def(py::self * float())
+
+is really just short hand notation for
+
+.. code-block:: cpp
+
+    .def("__mul__", [](const Vector2 &a, float b) {
+        return a * b;
+    }, py::is_operator())
+
+This can be useful for exposing additional operators that don't exist on the
+C++ side, or to perform other types of customization. The ``py::is_operator``
+flag marker is needed to inform pybind11 that this is an operator, which
+returns ``NotImplemented`` when invoked with incompatible arguments rather than
+throwing a type error.
+
+.. note::
+
+    To use the more convenient ``py::self`` notation, the additional
+    header file :file:`pybind11/operators.h` must be included.
+
+.. seealso::
+
+    The file :file:`tests/test_operator_overloading.cpp` contains a
+    complete example that demonstrates how to work with overloaded operators in
+    more detail.
+
+.. _pickling:
+
+Pickling support
+================
+
+Python's ``pickle`` module provides a powerful facility to serialize and
+de-serialize a Python object graph into a binary data stream. To pickle and
+unpickle C++ classes using pybind11, a ``py::pickle()`` definition must be
+provided. Suppose the class in question has the following signature:
+
+.. code-block:: cpp
+
+    class Pickleable {
+    public:
+        Pickleable(const std::string &value) : m_value(value) { }
+        const std::string &value() const { return m_value; }
+
+        void setExtra(int extra) { m_extra = extra; }
+        int extra() const { return m_extra; }
+    private:
+        std::string m_value;
+        int m_extra = 0;
+    };
+
+Pickling support in Python is enabled by defining the ``__setstate__`` and
+``__getstate__`` methods [#f3]_. For pybind11 classes, use ``py::pickle()``
+to bind these two functions:
+
+.. code-block:: cpp
+
+    py::class_<Pickleable>(m, "Pickleable")
+        .def(py::init<std::string>())
+        .def("value", &Pickleable::value)
+        .def("extra", &Pickleable::extra)
+        .def("setExtra", &Pickleable::setExtra)
+        .def(py::pickle(
+            [](const Pickleable &p) { // __getstate__
+                /* Return a tuple that fully encodes the state of the object */
+                return py::make_tuple(p.value(), p.extra());
+            },
+            [](py::tuple t) { // __setstate__
+                if (t.size() != 2)
+                    throw std::runtime_error("Invalid state!");
+
+                /* Create a new C++ instance */
+                Pickleable p(t[0].cast<std::string>());
+
+                /* Assign any additional state */
+                p.setExtra(t[1].cast<int>());
+
+                return p;
+            }
+        ));
+
+The ``__setstate__`` part of the ``py::picke()`` definition follows the same
+rules as the single-argument version of ``py::init()``. The return type can be
+a value, pointer or holder type. See :ref:`custom_constructors` for details.
+
+An instance can now be pickled as follows:
+
+.. code-block:: python
+
+    try:
+        import cPickle as pickle  # Use cPickle on Python 2.7
+    except ImportError:
+        import pickle
+
+    p = Pickleable("test_value")
+    p.setExtra(15)
+    data = pickle.dumps(p, 2)
+
+
+.. note::
+    Note that only the cPickle module is supported on Python 2.7.
+
+    The second argument to ``dumps`` is also crucial: it selects the pickle
+    protocol version 2, since the older version 1 is not supported. Newer
+    versions are also fine—for instance, specify ``-1`` to always use the
+    latest available version. Beware: failure to follow these instructions
+    will cause important pybind11 memory allocation routines to be skipped
+    during unpickling, which will likely lead to memory corruption and/or
+    segmentation faults.
+
+.. seealso::
+
+    The file :file:`tests/test_pickling.cpp` contains a complete example
+    that demonstrates how to pickle and unpickle types using pybind11 in more
+    detail.
+
+.. [#f3] http://docs.python.org/3/library/pickle.html#pickling-class-instances
+
+Deepcopy support
+================
+
+Python normally uses references in assignments. Sometimes a real copy is needed
+to prevent changing all copies. The ``copy`` module [#f5]_ provides these
+capabilities.
+
+On Python 3, a class with pickle support is automatically also (deep)copy
+compatible. However, performance can be improved by adding custom
+``__copy__`` and ``__deepcopy__`` methods. With Python 2.7, these custom methods
+are mandatory for (deep)copy compatibility, because pybind11 only supports
+cPickle.
+
+For simple classes (deep)copy can be enabled by using the copy constructor,
+which should look as follows:
+
+.. code-block:: cpp
+
+    py::class_<Copyable>(m, "Copyable")
+        .def("__copy__",  [](const Copyable &self) {
+            return Copyable(self);
+        })
+        .def("__deepcopy__", [](const Copyable &self, py::dict) {
+            return Copyable(self);
+        }, "memo"_a);
+
+.. note::
+
+    Dynamic attributes will not be copied in this example.
+
+.. [#f5] https://docs.python.org/3/library/copy.html
+
+Multiple Inheritance
+====================
+
+pybind11 can create bindings for types that derive from multiple base types
+(aka. *multiple inheritance*). To do so, specify all bases in the template
+arguments of the ``class_`` declaration:
+
+.. code-block:: cpp
+
+    py::class_<MyType, BaseType1, BaseType2, BaseType3>(m, "MyType")
+       ...
+
+The base types can be specified in arbitrary order, and they can even be
+interspersed with alias types and holder types (discussed earlier in this
+document)---pybind11 will automatically find out which is which. The only
+requirement is that the first template argument is the type to be declared.
+
+It is also permitted to inherit multiply from exported C++ classes in Python,
+as well as inheriting from multiple Python and/or pybind11-exported classes.
+
+There is one caveat regarding the implementation of this feature:
+
+When only one base type is specified for a C++ type that actually has multiple
+bases, pybind11 will assume that it does not participate in multiple
+inheritance, which can lead to undefined behavior. In such cases, add the tag
+``multiple_inheritance`` to the class constructor:
+
+.. code-block:: cpp
+
+    py::class_<MyType, BaseType2>(m, "MyType", py::multiple_inheritance());
+
+The tag is redundant and does not need to be specified when multiple base types
+are listed.
+
+.. _module_local:
+
+Module-local class bindings
+===========================
+
+When creating a binding for a class, pybind11 by default makes that binding
+"global" across modules.  What this means is that a type defined in one module
+can be returned from any module resulting in the same Python type.  For
+example, this allows the following:
+
+.. code-block:: cpp
+
+    // In the module1.cpp binding code for module1:
+    py::class_<Pet>(m, "Pet")
+        .def(py::init<std::string>())
+        .def_readonly("name", &Pet::name);
+
+.. code-block:: cpp
+
+    // In the module2.cpp binding code for module2:
+    m.def("create_pet", [](std::string name) { return new Pet(name); });
+
+.. code-block:: pycon
+
+    >>> from module1 import Pet
+    >>> from module2 import create_pet
+    >>> pet1 = Pet("Kitty")
+    >>> pet2 = create_pet("Doggy")
+    >>> pet2.name()
+    'Doggy'
+
+When writing binding code for a library, this is usually desirable: this
+allows, for example, splitting up a complex library into multiple Python
+modules.
+
+In some cases, however, this can cause conflicts.  For example, suppose two
+unrelated modules make use of an external C++ library and each provide custom
+bindings for one of that library's classes.  This will result in an error when
+a Python program attempts to import both modules (directly or indirectly)
+because of conflicting definitions on the external type:
+
+.. code-block:: cpp
+
+    // dogs.cpp
+
+    // Binding for external library class:
+    py::class<pets::Pet>(m, "Pet")
+        .def("name", &pets::Pet::name);
+
+    // Binding for local extension class:
+    py::class<Dog, pets::Pet>(m, "Dog")
+        .def(py::init<std::string>());
+
+.. code-block:: cpp
+
+    // cats.cpp, in a completely separate project from the above dogs.cpp.
+
+    // Binding for external library class:
+    py::class<pets::Pet>(m, "Pet")
+        .def("get_name", &pets::Pet::name);
+
+    // Binding for local extending class:
+    py::class<Cat, pets::Pet>(m, "Cat")
+        .def(py::init<std::string>());
+
+.. code-block:: pycon
+
+    >>> import cats
+    >>> import dogs
+    Traceback (most recent call last):
+      File "<stdin>", line 1, in <module>
+    ImportError: generic_type: type "Pet" is already registered!
+
+To get around this, you can tell pybind11 to keep the external class binding
+localized to the module by passing the ``py::module_local()`` attribute into
+the ``py::class_`` constructor:
+
+.. code-block:: cpp
+
+    // Pet binding in dogs.cpp:
+    py::class<pets::Pet>(m, "Pet", py::module_local())
+        .def("name", &pets::Pet::name);
+
+.. code-block:: cpp
+
+    // Pet binding in cats.cpp:
+    py::class<pets::Pet>(m, "Pet", py::module_local())
+        .def("get_name", &pets::Pet::name);
+
+This makes the Python-side ``dogs.Pet`` and ``cats.Pet`` into distinct classes,
+avoiding the conflict and allowing both modules to be loaded.  C++ code in the
+``dogs`` module that casts or returns a ``Pet`` instance will result in a
+``dogs.Pet`` Python instance, while C++ code in the ``cats`` module will result
+in a ``cats.Pet`` Python instance.
+
+This does come with two caveats, however: First, external modules cannot return
+or cast a ``Pet`` instance to Python (unless they also provide their own local
+bindings).  Second, from the Python point of view they are two distinct classes.
+
+Note that the locality only applies in the C++ -> Python direction.  When
+passing such a ``py::module_local`` type into a C++ function, the module-local
+classes are still considered.  This means that if the following function is
+added to any module (including but not limited to the ``cats`` and ``dogs``
+modules above) it will be callable with either a ``dogs.Pet`` or ``cats.Pet``
+argument:
+
+.. code-block:: cpp
+
+    m.def("pet_name", [](const pets::Pet &pet) { return pet.name(); });
+
+For example, suppose the above function is added to each of ``cats.cpp``,
+``dogs.cpp`` and ``frogs.cpp`` (where ``frogs.cpp`` is some other module that
+does *not* bind ``Pets`` at all).
+
+.. code-block:: pycon
+
+    >>> import cats, dogs, frogs  # No error because of the added py::module_local()
+    >>> mycat, mydog = cats.Cat("Fluffy"), dogs.Dog("Rover")
+    >>> (cats.pet_name(mycat), dogs.pet_name(mydog))
+    ('Fluffy', 'Rover')
+    >>> (cats.pet_name(mydog), dogs.pet_name(mycat), frogs.pet_name(mycat))
+    ('Rover', 'Fluffy', 'Fluffy')
+
+It is possible to use ``py::module_local()`` registrations in one module even
+if another module registers the same type globally: within the module with the
+module-local definition, all C++ instances will be cast to the associated bound
+Python type.  In other modules any such values are converted to the global
+Python type created elsewhere.
+
+.. note::
+
+    STL bindings (as provided via the optional :file:`pybind11/stl_bind.h`
+    header) apply ``py::module_local`` by default when the bound type might
+    conflict with other modules; see :ref:`stl_bind` for details.
+
+.. note::
+
+    The localization of the bound types is actually tied to the shared object
+    or binary generated by the compiler/linker.  For typical modules created
+    with ``PYBIND11_MODULE()``, this distinction is not significant.  It is
+    possible, however, when :ref:`embedding` to embed multiple modules in the
+    same binary (see :ref:`embedding_modules`).  In such a case, the
+    localization will apply across all embedded modules within the same binary.
+
+.. seealso::
+
+    The file :file:`tests/test_local_bindings.cpp` contains additional examples
+    that demonstrate how ``py::module_local()`` works.
+
+Binding protected member functions
+==================================
+
+It's normally not possible to expose ``protected`` member functions to Python:
+
+.. code-block:: cpp
+
+    class A {
+    protected:
+        int foo() const { return 42; }
+    };
+
+    py::class_<A>(m, "A")
+        .def("foo", &A::foo); // error: 'foo' is a protected member of 'A'
+
+On one hand, this is good because non-``public`` members aren't meant to be
+accessed from the outside. But we may want to make use of ``protected``
+functions in derived Python classes.
+
+The following pattern makes this possible:
+
+.. code-block:: cpp
+
+    class A {
+    protected:
+        int foo() const { return 42; }
+    };
+
+    class Publicist : public A { // helper type for exposing protected functions
+    public:
+        using A::foo; // inherited with different access modifier
+    };
+
+    py::class_<A>(m, "A") // bind the primary class
+        .def("foo", &Publicist::foo); // expose protected methods via the publicist
+
+This works because ``&Publicist::foo`` is exactly the same function as
+``&A::foo`` (same signature and address), just with a different access
+modifier. The only purpose of the ``Publicist`` helper class is to make
+the function name ``public``.
+
+If the intent is to expose ``protected`` ``virtual`` functions which can be
+overridden in Python, the publicist pattern can be combined with the previously
+described trampoline:
+
+.. code-block:: cpp
+
+    class A {
+    public:
+        virtual ~A() = default;
+
+    protected:
+        virtual int foo() const { return 42; }
+    };
+
+    class Trampoline : public A {
+    public:
+        int foo() const override { PYBIND11_OVERRIDE(int, A, foo, ); }
+    };
+
+    class Publicist : public A {
+    public:
+        using A::foo;
+    };
+
+    py::class_<A, Trampoline>(m, "A") // <-- `Trampoline` here
+        .def("foo", &Publicist::foo); // <-- `Publicist` here, not `Trampoline`!
+
+.. note::
+
+    MSVC 2015 has a compiler bug (fixed in version 2017) which
+    requires a more explicit function binding in the form of
+    ``.def("foo", static_cast<int (A::*)() const>(&Publicist::foo));``
+    where ``int (A::*)() const`` is the type of ``A::foo``.
+
+Binding final classes
+=====================
+
+Some classes may not be appropriate to inherit from. In C++11, classes can
+use the ``final`` specifier to ensure that a class cannot be inherited from.
+The ``py::is_final`` attribute can be used to ensure that Python classes
+cannot inherit from a specified type. The underlying C++ type does not need
+to be declared final.
+
+.. code-block:: cpp
+
+    class IsFinal final {};
+
+    py::class_<IsFinal>(m, "IsFinal", py::is_final());
+
+When you try to inherit from such a class in Python, you will now get this
+error:
+
+.. code-block:: pycon
+
+    >>> class PyFinalChild(IsFinal):
+    ...     pass
+    TypeError: type 'IsFinal' is not an acceptable base type
+
+.. note:: This attribute is currently ignored on PyPy
+
+.. versionadded:: 2.6
+
+Custom automatic downcasters
+============================
+
+As explained in :ref:`inheritance`, pybind11 comes with built-in
+understanding of the dynamic type of polymorphic objects in C++; that
+is, returning a Pet to Python produces a Python object that knows it's
+wrapping a Dog, if Pet has virtual methods and pybind11 knows about
+Dog and this Pet is in fact a Dog. Sometimes, you might want to
+provide this automatic downcasting behavior when creating bindings for
+a class hierarchy that does not use standard C++ polymorphism, such as
+LLVM [#f4]_. As long as there's some way to determine at runtime
+whether a downcast is safe, you can proceed by specializing the
+``pybind11::polymorphic_type_hook`` template:
+
+.. code-block:: cpp
+
+    enum class PetKind { Cat, Dog, Zebra };
+    struct Pet {   // Not polymorphic: has no virtual methods
+        const PetKind kind;
+        int age = 0;
+      protected:
+        Pet(PetKind _kind) : kind(_kind) {}
+    };
+    struct Dog : Pet {
+        Dog() : Pet(PetKind::Dog) {}
+        std::string sound = "woof!";
+        std::string bark() const { return sound; }
+    };
+
+    namespace pybind11 {
+        template<> struct polymorphic_type_hook<Pet> {
+            static const void *get(const Pet *src, const std::type_info*& type) {
+                // note that src may be nullptr
+                if (src && src->kind == PetKind::Dog) {
+                    type = &typeid(Dog);
+                    return static_cast<const Dog*>(src);
+                }
+                return src;
+            }
+        };
+    } // namespace pybind11
+
+When pybind11 wants to convert a C++ pointer of type ``Base*`` to a
+Python object, it calls ``polymorphic_type_hook<Base>::get()`` to
+determine if a downcast is possible. The ``get()`` function should use
+whatever runtime information is available to determine if its ``src``
+parameter is in fact an instance of some class ``Derived`` that
+inherits from ``Base``. If it finds such a ``Derived``, it sets ``type
+= &typeid(Derived)`` and returns a pointer to the ``Derived`` object
+that contains ``src``. Otherwise, it just returns ``src``, leaving
+``type`` at its default value of nullptr. If you set ``type`` to a
+type that pybind11 doesn't know about, no downcasting will occur, and
+the original ``src`` pointer will be used with its static type
+``Base*``.
+
+It is critical that the returned pointer and ``type`` argument of
+``get()`` agree with each other: if ``type`` is set to something
+non-null, the returned pointer must point to the start of an object
+whose type is ``type``. If the hierarchy being exposed uses only
+single inheritance, a simple ``return src;`` will achieve this just
+fine, but in the general case, you must cast ``src`` to the
+appropriate derived-class pointer (e.g. using
+``static_cast<Derived>(src)``) before allowing it to be returned as a
+``void*``.
+
+.. [#f4] https://llvm.org/docs/HowToSetUpLLVMStyleRTTI.html
+
+.. note::
+
+    pybind11's standard support for downcasting objects whose types
+    have virtual methods is implemented using
+    ``polymorphic_type_hook`` too, using the standard C++ ability to
+    determine the most-derived type of a polymorphic object using
+    ``typeid()`` and to cast a base pointer to that most-derived type
+    (even if you don't know what it is) using ``dynamic_cast<void*>``.
+
+.. seealso::
+
+    The file :file:`tests/test_tagbased_polymorphic.cpp` contains a
+    more complete example, including a demonstration of how to provide
+    automatic downcasting for an entire class hierarchy without
+    writing one get() function for each class.
+
+Accessing the type object
+=========================
+
+You can get the type object from a C++ class that has already been registered using:
+
+.. code-block:: python
+
+    py::type T_py = py::type::of<T>();
+
+You can directly use ``py::type::of(ob)`` to get the type object from any python
+object, just like ``type(ob)`` in Python.
+
+.. note::
+
+    Other types, like ``py::type::of<int>()``, do not work, see :ref:`type-conversions`.
+
+.. versionadded:: 2.6
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/embedding.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/embedding.rst
new file mode 100644
index 0000000..dfdaad2
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/embedding.rst
@@ -0,0 +1,261 @@
+.. _embedding:
+
+Embedding the interpreter
+#########################
+
+While pybind11 is mainly focused on extending Python using C++, it's also
+possible to do the reverse: embed the Python interpreter into a C++ program.
+All of the other documentation pages still apply here, so refer to them for
+general pybind11 usage. This section will cover a few extra things required
+for embedding.
+
+Getting started
+===============
+
+A basic executable with an embedded interpreter can be created with just a few
+lines of CMake and the ``pybind11::embed`` target, as shown below. For more
+information, see :doc:`/compiling`.
+
+.. code-block:: cmake
+
+    cmake_minimum_required(VERSION 3.4)
+    project(example)
+
+    find_package(pybind11 REQUIRED)  # or `add_subdirectory(pybind11)`
+
+    add_executable(example main.cpp)
+    target_link_libraries(example PRIVATE pybind11::embed)
+
+The essential structure of the ``main.cpp`` file looks like this:
+
+.. code-block:: cpp
+
+    #include <pybind11/embed.h> // everything needed for embedding
+    namespace py = pybind11;
+
+    int main() {
+        py::scoped_interpreter guard{}; // start the interpreter and keep it alive
+
+        py::print("Hello, World!"); // use the Python API
+    }
+
+The interpreter must be initialized before using any Python API, which includes
+all the functions and classes in pybind11. The RAII guard class `scoped_interpreter`
+takes care of the interpreter lifetime. After the guard is destroyed, the interpreter
+shuts down and clears its memory. No Python functions can be called after this.
+
+Executing Python code
+=====================
+
+There are a few different ways to run Python code. One option is to use `eval`,
+`exec` or `eval_file`, as explained in :ref:`eval`. Here is a quick example in
+the context of an executable with an embedded interpreter:
+
+.. code-block:: cpp
+
+    #include <pybind11/embed.h>
+    namespace py = pybind11;
+
+    int main() {
+        py::scoped_interpreter guard{};
+
+        py::exec(R"(
+            kwargs = dict(name="World", number=42)
+            message = "Hello, {name}! The answer is {number}".format(**kwargs)
+            print(message)
+        )");
+    }
+
+Alternatively, similar results can be achieved using pybind11's API (see
+:doc:`/advanced/pycpp/index` for more details).
+
+.. code-block:: cpp
+
+    #include <pybind11/embed.h>
+    namespace py = pybind11;
+    using namespace py::literals;
+
+    int main() {
+        py::scoped_interpreter guard{};
+
+        auto kwargs = py::dict("name"_a="World", "number"_a=42);
+        auto message = "Hello, {name}! The answer is {number}"_s.format(**kwargs);
+        py::print(message);
+    }
+
+The two approaches can also be combined:
+
+.. code-block:: cpp
+
+    #include <pybind11/embed.h>
+    #include <iostream>
+
+    namespace py = pybind11;
+    using namespace py::literals;
+
+    int main() {
+        py::scoped_interpreter guard{};
+
+        auto locals = py::dict("name"_a="World", "number"_a=42);
+        py::exec(R"(
+            message = "Hello, {name}! The answer is {number}".format(**locals())
+        )", py::globals(), locals);
+
+        auto message = locals["message"].cast<std::string>();
+        std::cout << message;
+    }
+
+Importing modules
+=================
+
+Python modules can be imported using `module_::import()`:
+
+.. code-block:: cpp
+
+    py::module_ sys = py::module_::import("sys");
+    py::print(sys.attr("path"));
+
+For convenience, the current working directory is included in ``sys.path`` when
+embedding the interpreter. This makes it easy to import local Python files:
+
+.. code-block:: python
+
+    """calc.py located in the working directory"""
+
+    def add(i, j):
+        return i + j
+
+
+.. code-block:: cpp
+
+    py::module_ calc = py::module_::import("calc");
+    py::object result = calc.attr("add")(1, 2);
+    int n = result.cast<int>();
+    assert(n == 3);
+
+Modules can be reloaded using `module_::reload()` if the source is modified e.g.
+by an external process. This can be useful in scenarios where the application
+imports a user defined data processing script which needs to be updated after
+changes by the user. Note that this function does not reload modules recursively.
+
+.. _embedding_modules:
+
+Adding embedded modules
+=======================
+
+Embedded binary modules can be added using the `PYBIND11_EMBEDDED_MODULE` macro.
+Note that the definition must be placed at global scope. They can be imported
+like any other module.
+
+.. code-block:: cpp
+
+    #include <pybind11/embed.h>
+    namespace py = pybind11;
+
+    PYBIND11_EMBEDDED_MODULE(fast_calc, m) {
+        // `m` is a `py::module_` which is used to bind functions and classes
+        m.def("add", [](int i, int j) {
+            return i + j;
+        });
+    }
+
+    int main() {
+        py::scoped_interpreter guard{};
+
+        auto fast_calc = py::module_::import("fast_calc");
+        auto result = fast_calc.attr("add")(1, 2).cast<int>();
+        assert(result == 3);
+    }
+
+Unlike extension modules where only a single binary module can be created, on
+the embedded side an unlimited number of modules can be added using multiple
+`PYBIND11_EMBEDDED_MODULE` definitions (as long as they have unique names).
+
+These modules are added to Python's list of builtins, so they can also be
+imported in pure Python files loaded by the interpreter. Everything interacts
+naturally:
+
+.. code-block:: python
+
+    """py_module.py located in the working directory"""
+    import cpp_module
+
+    a = cpp_module.a
+    b = a + 1
+
+
+.. code-block:: cpp
+
+    #include <pybind11/embed.h>
+    namespace py = pybind11;
+
+    PYBIND11_EMBEDDED_MODULE(cpp_module, m) {
+        m.attr("a") = 1;
+    }
+
+    int main() {
+        py::scoped_interpreter guard{};
+
+        auto py_module = py::module_::import("py_module");
+
+        auto locals = py::dict("fmt"_a="{} + {} = {}", **py_module.attr("__dict__"));
+        assert(locals["a"].cast<int>() == 1);
+        assert(locals["b"].cast<int>() == 2);
+
+        py::exec(R"(
+            c = a + b
+            message = fmt.format(a, b, c)
+        )", py::globals(), locals);
+
+        assert(locals["c"].cast<int>() == 3);
+        assert(locals["message"].cast<std::string>() == "1 + 2 = 3");
+    }
+
+
+Interpreter lifetime
+====================
+
+The Python interpreter shuts down when `scoped_interpreter` is destroyed. After
+this, creating a new instance will restart the interpreter. Alternatively, the
+`initialize_interpreter` / `finalize_interpreter` pair of functions can be used
+to directly set the state at any time.
+
+Modules created with pybind11 can be safely re-initialized after the interpreter
+has been restarted. However, this may not apply to third-party extension modules.
+The issue is that Python itself cannot completely unload extension modules and
+there are several caveats with regard to interpreter restarting. In short, not
+all memory may be freed, either due to Python reference cycles or user-created
+global data. All the details can be found in the CPython documentation.
+
+.. warning::
+
+    Creating two concurrent `scoped_interpreter` guards is a fatal error. So is
+    calling `initialize_interpreter` for a second time after the interpreter
+    has already been initialized.
+
+    Do not use the raw CPython API functions ``Py_Initialize`` and
+    ``Py_Finalize`` as these do not properly handle the lifetime of
+    pybind11's internal data.
+
+
+Sub-interpreter support
+=======================
+
+Creating multiple copies of `scoped_interpreter` is not possible because it
+represents the main Python interpreter. Sub-interpreters are something different
+and they do permit the existence of multiple interpreters. This is an advanced
+feature of the CPython API and should be handled with care. pybind11 does not
+currently offer a C++ interface for sub-interpreters, so refer to the CPython
+documentation for all the details regarding this feature.
+
+We'll just mention a couple of caveats the sub-interpreters support in pybind11:
+
+ 1. Sub-interpreters will not receive independent copies of embedded modules.
+    Instead, these are shared and modifications in one interpreter may be
+    reflected in another.
+
+ 2. Managing multiple threads, multiple interpreters and the GIL can be
+    challenging and there are several caveats here, even within the pure
+    CPython API (please refer to the Python docs for details). As for
+    pybind11, keep in mind that `gil_scoped_release` and `gil_scoped_acquire`
+    do not take sub-interpreters into account.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/exceptions.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/exceptions.rst
new file mode 100644
index 0000000..5eae556
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/exceptions.rst
@@ -0,0 +1,298 @@
+Exceptions
+##########
+
+Built-in C++ to Python exception translation
+============================================
+
+When Python calls C++ code through pybind11, pybind11 provides a C++ exception handler
+that will trap C++ exceptions, translate them to the corresponding Python exception,
+and raise them so that Python code can handle them.
+
+pybind11 defines translations for ``std::exception`` and its standard
+subclasses, and several special exception classes that translate to specific
+Python exceptions. Note that these are not actually Python exceptions, so they
+cannot be examined using the Python C API. Instead, they are pure C++ objects
+that pybind11 will translate the corresponding Python exception when they arrive
+at its exception handler.
+
+.. tabularcolumns:: |p{0.5\textwidth}|p{0.45\textwidth}|
+
++--------------------------------------+--------------------------------------+
+|  Exception thrown by C++             |  Translated to Python exception type |
++======================================+======================================+
+| :class:`std::exception`              | ``RuntimeError``                     |
++--------------------------------------+--------------------------------------+
+| :class:`std::bad_alloc`              | ``MemoryError``                      |
++--------------------------------------+--------------------------------------+
+| :class:`std::domain_error`           | ``ValueError``                       |
++--------------------------------------+--------------------------------------+
+| :class:`std::invalid_argument`       | ``ValueError``                       |
++--------------------------------------+--------------------------------------+
+| :class:`std::length_error`           | ``ValueError``                       |
++--------------------------------------+--------------------------------------+
+| :class:`std::out_of_range`           | ``IndexError``                       |
++--------------------------------------+--------------------------------------+
+| :class:`std::range_error`            | ``ValueError``                       |
++--------------------------------------+--------------------------------------+
+| :class:`std::overflow_error`         | ``OverflowError``                    |
++--------------------------------------+--------------------------------------+
+| :class:`pybind11::stop_iteration`    | ``StopIteration`` (used to implement |
+|                                      | custom iterators)                    |
++--------------------------------------+--------------------------------------+
+| :class:`pybind11::index_error`       | ``IndexError`` (used to indicate out |
+|                                      | of bounds access in ``__getitem__``, |
+|                                      | ``__setitem__``, etc.)               |
++--------------------------------------+--------------------------------------+
+| :class:`pybind11::value_error`       | ``ValueError`` (used to indicate     |
+|                                      | wrong value passed in                |
+|                                      | ``container.remove(...)``)           |
++--------------------------------------+--------------------------------------+
+| :class:`pybind11::key_error`         | ``KeyError`` (used to indicate out   |
+|                                      | of bounds access in ``__getitem__``, |
+|                                      | ``__setitem__`` in dict-like         |
+|                                      | objects, etc.)                       |
++--------------------------------------+--------------------------------------+
+
+Exception translation is not bidirectional. That is, *catching* the C++
+exceptions defined above above will not trap exceptions that originate from
+Python. For that, catch :class:`pybind11::error_already_set`. See :ref:`below
+<handling_python_exceptions_cpp>` for further details.
+
+There is also a special exception :class:`cast_error` that is thrown by
+:func:`handle::call` when the input arguments cannot be converted to Python
+objects.
+
+Registering custom translators
+==============================
+
+If the default exception conversion policy described above is insufficient,
+pybind11 also provides support for registering custom exception translators.
+To register a simple exception conversion that translates a C++ exception into
+a new Python exception using the C++ exception's ``what()`` method, a helper
+function is available:
+
+.. code-block:: cpp
+
+    py::register_exception<CppExp>(module, "PyExp");
+
+This call creates a Python exception class with the name ``PyExp`` in the given
+module and automatically converts any encountered exceptions of type ``CppExp``
+into Python exceptions of type ``PyExp``.
+
+It is possible to specify base class for the exception using the third
+parameter, a `handle`:
+
+.. code-block:: cpp
+
+    py::register_exception<CppExp>(module, "PyExp", PyExc_RuntimeError);
+
+Then `PyExp` can be caught both as `PyExp` and `RuntimeError`.
+
+The class objects of the built-in Python exceptions are listed in the Python
+documentation on `Standard Exceptions <https://docs.python.org/3/c-api/exceptions.html#standard-exceptions>`_.
+The default base class is `PyExc_Exception`.
+
+When more advanced exception translation is needed, the function
+``py::register_exception_translator(translator)`` can be used to register
+functions that can translate arbitrary exception types (and which may include
+additional logic to do so).  The function takes a stateless callable (e.g.  a
+function pointer or a lambda function without captured variables) with the call
+signature ``void(std::exception_ptr)``.
+
+When a C++ exception is thrown, the registered exception translators are tried
+in reverse order of registration (i.e. the last registered translator gets the
+first shot at handling the exception).
+
+Inside the translator, ``std::rethrow_exception`` should be used within
+a try block to re-throw the exception.  One or more catch clauses to catch
+the appropriate exceptions should then be used with each clause using
+``PyErr_SetString`` to set a Python exception or ``ex(string)`` to set
+the python exception to a custom exception type (see below).
+
+To declare a custom Python exception type, declare a ``py::exception`` variable
+and use this in the associated exception translator (note: it is often useful
+to make this a static declaration when using it inside a lambda expression
+without requiring capturing).
+
+The following example demonstrates this for a hypothetical exception classes
+``MyCustomException`` and ``OtherException``: the first is translated to a
+custom python exception ``MyCustomError``, while the second is translated to a
+standard python RuntimeError:
+
+.. code-block:: cpp
+
+    static py::exception<MyCustomException> exc(m, "MyCustomError");
+    py::register_exception_translator([](std::exception_ptr p) {
+        try {
+            if (p) std::rethrow_exception(p);
+        } catch (const MyCustomException &e) {
+            exc(e.what());
+        } catch (const OtherException &e) {
+            PyErr_SetString(PyExc_RuntimeError, e.what());
+        }
+    });
+
+Multiple exceptions can be handled by a single translator, as shown in the
+example above. If the exception is not caught by the current translator, the
+previously registered one gets a chance.
+
+If none of the registered exception translators is able to handle the
+exception, it is handled by the default converter as described in the previous
+section.
+
+.. seealso::
+
+    The file :file:`tests/test_exceptions.cpp` contains examples
+    of various custom exception translators and custom exception types.
+
+.. note::
+
+    Call either ``PyErr_SetString`` or a custom exception's call
+    operator (``exc(string)``) for every exception caught in a custom exception
+    translator.  Failure to do so will cause Python to crash with ``SystemError:
+    error return without exception set``.
+
+    Exceptions that you do not plan to handle should simply not be caught, or
+    may be explicitly (re-)thrown to delegate it to the other,
+    previously-declared existing exception translators.
+
+.. _handling_python_exceptions_cpp:
+
+Handling exceptions from Python in C++
+======================================
+
+When C++ calls Python functions, such as in a callback function or when
+manipulating Python objects, and Python raises an ``Exception``, pybind11
+converts the Python exception into a C++ exception of type
+:class:`pybind11::error_already_set` whose payload contains a C++ string textual
+summary and the actual Python exception. ``error_already_set`` is used to
+propagate Python exception back to Python (or possibly, handle them in C++).
+
+.. tabularcolumns:: |p{0.5\textwidth}|p{0.45\textwidth}|
+
++--------------------------------------+--------------------------------------+
+|  Exception raised in Python          |  Thrown as C++ exception type        |
++======================================+======================================+
+| Any Python ``Exception``             | :class:`pybind11::error_already_set` |
++--------------------------------------+--------------------------------------+
+
+For example:
+
+.. code-block:: cpp
+
+    try {
+        // open("missing.txt", "r")
+        auto file = py::module_::import("io").attr("open")("missing.txt", "r");
+        auto text = file.attr("read")();
+        file.attr("close")();
+    } catch (py::error_already_set &e) {
+        if (e.matches(PyExc_FileNotFoundError)) {
+            py::print("missing.txt not found");
+        } else if (e.match(PyExc_PermissionError)) {
+            py::print("missing.txt found but not accessible");
+        } else {
+            throw;
+        }
+    }
+
+Note that C++ to Python exception translation does not apply here, since that is
+a method for translating C++ exceptions to Python, not vice versa. The error raised
+from Python is always ``error_already_set``.
+
+This example illustrates this behavior:
+
+.. code-block:: cpp
+
+    try {
+        py::eval("raise ValueError('The Ring')");
+    } catch (py::value_error &boromir) {
+        // Boromir never gets the ring
+        assert(false);
+    } catch (py::error_already_set &frodo) {
+        // Frodo gets the ring
+        py::print("I will take the ring");
+    }
+
+    try {
+        // py::value_error is a request for pybind11 to raise a Python exception
+        throw py::value_error("The ball");
+    } catch (py::error_already_set &cat) {
+        // cat won't catch the ball since
+        // py::value_error is not a Python exception
+        assert(false);
+    } catch (py::value_error &dog) {
+        // dog will catch the ball
+        py::print("Run Spot run");
+        throw;  // Throw it again (pybind11 will raise ValueError)
+    }
+
+Handling errors from the Python C API
+=====================================
+
+Where possible, use :ref:`pybind11 wrappers <wrappers>` instead of calling
+the Python C API directly. When calling the Python C API directly, in
+addition to manually managing reference counts, one must follow the pybind11
+error protocol, which is outlined here.
+
+After calling the Python C API, if Python returns an error,
+``throw py::error_already_set();``, which allows pybind11 to deal with the
+exception and pass it back to the Python interpreter. This includes calls to
+the error setting functions such as ``PyErr_SetString``.
+
+.. code-block:: cpp
+
+    PyErr_SetString(PyExc_TypeError, "C API type error demo");
+    throw py::error_already_set();
+
+    // But it would be easier to simply...
+    throw py::type_error("pybind11 wrapper type error");
+
+Alternately, to ignore the error, call `PyErr_Clear
+<https://docs.python.org/3/c-api/exceptions.html#c.PyErr_Clear>`_.
+
+Any Python error must be thrown or cleared, or Python/pybind11 will be left in
+an invalid state.
+
+.. _unraisable_exceptions:
+
+Handling unraisable exceptions
+==============================
+
+If a Python function invoked from a C++ destructor or any function marked
+``noexcept(true)`` (collectively, "noexcept functions") throws an exception, there
+is no way to propagate the exception, as such functions may not throw.
+Should they throw or fail to catch any exceptions in their call graph,
+the C++ runtime calls ``std::terminate()`` to abort immediately.
+
+Similarly, Python exceptions raised in a class's ``__del__`` method do not
+propagate, but are logged by Python as an unraisable error. In Python 3.8+, a
+`system hook is triggered
+<https://docs.python.org/3/library/sys.html#sys.unraisablehook>`_
+and an auditing event is logged.
+
+Any noexcept function should have a try-catch block that traps
+class:`error_already_set` (or any other exception that can occur). Note that
+pybind11 wrappers around Python exceptions such as
+:class:`pybind11::value_error` are *not* Python exceptions; they are C++
+exceptions that pybind11 catches and converts to Python exceptions. Noexcept
+functions cannot propagate these exceptions either. A useful approach is to
+convert them to Python exceptions and then ``discard_as_unraisable`` as shown
+below.
+
+.. code-block:: cpp
+
+    void nonthrowing_func() noexcept(true) {
+        try {
+            // ...
+        } catch (py::error_already_set &eas) {
+            // Discard the Python error using Python APIs, using the C++ magic
+            // variable __func__. Python already knows the type and value and of the
+            // exception object.
+            eas.discard_as_unraisable(__func__);
+        } catch (const std::exception &e) {
+            // Log and discard C++ exceptions.
+            third_party::log(e);
+        }
+    }
+
+.. versionadded:: 2.6
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/functions.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/functions.rst
new file mode 100644
index 0000000..ebdff9c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/functions.rst
@@ -0,0 +1,561 @@
+Functions
+#########
+
+Before proceeding with this section, make sure that you are already familiar
+with the basics of binding functions and classes, as explained in :doc:`/basics`
+and :doc:`/classes`. The following guide is applicable to both free and member
+functions, i.e. *methods* in Python.
+
+.. _return_value_policies:
+
+Return value policies
+=====================
+
+Python and C++ use fundamentally different ways of managing the memory and
+lifetime of objects managed by them. This can lead to issues when creating
+bindings for functions that return a non-trivial type. Just by looking at the
+type information, it is not clear whether Python should take charge of the
+returned value and eventually free its resources, or if this is handled on the
+C++ side. For this reason, pybind11 provides a several *return value policy*
+annotations that can be passed to the :func:`module_::def` and
+:func:`class_::def` functions. The default policy is
+:enum:`return_value_policy::automatic`.
+
+Return value policies are tricky, and it's very important to get them right.
+Just to illustrate what can go wrong, consider the following simple example:
+
+.. code-block:: cpp
+
+    /* Function declaration */
+    Data *get_data() { return _data; /* (pointer to a static data structure) */ }
+    ...
+
+    /* Binding code */
+    m.def("get_data", &get_data); // <-- KABOOM, will cause crash when called from Python
+
+What's going on here? When ``get_data()`` is called from Python, the return
+value (a native C++ type) must be wrapped to turn it into a usable Python type.
+In this case, the default return value policy (:enum:`return_value_policy::automatic`)
+causes pybind11 to assume ownership of the static ``_data`` instance.
+
+When Python's garbage collector eventually deletes the Python
+wrapper, pybind11 will also attempt to delete the C++ instance (via ``operator
+delete()``) due to the implied ownership. At this point, the entire application
+will come crashing down, though errors could also be more subtle and involve
+silent data corruption.
+
+In the above example, the policy :enum:`return_value_policy::reference` should have
+been specified so that the global data instance is only *referenced* without any
+implied transfer of ownership, i.e.:
+
+.. code-block:: cpp
+
+    m.def("get_data", &get_data, return_value_policy::reference);
+
+On the other hand, this is not the right policy for many other situations,
+where ignoring ownership could lead to resource leaks.
+As a developer using pybind11, it's important to be familiar with the different
+return value policies, including which situation calls for which one of them.
+The following table provides an overview of available policies:
+
+.. tabularcolumns:: |p{0.5\textwidth}|p{0.45\textwidth}|
+
++--------------------------------------------------+----------------------------------------------------------------------------+
+| Return value policy                              | Description                                                                |
++==================================================+============================================================================+
+| :enum:`return_value_policy::take_ownership`      | Reference an existing object (i.e. do not create a new copy) and take      |
+|                                                  | ownership. Python will call the destructor and delete operator when the    |
+|                                                  | object's reference count reaches zero. Undefined behavior ensues when the  |
+|                                                  | C++ side does the same, or when the data was not dynamically allocated.    |
++--------------------------------------------------+----------------------------------------------------------------------------+
+| :enum:`return_value_policy::copy`                | Create a new copy of the returned object, which will be owned by Python.   |
+|                                                  | This policy is comparably safe because the lifetimes of the two instances  |
+|                                                  | are decoupled.                                                             |
++--------------------------------------------------+----------------------------------------------------------------------------+
+| :enum:`return_value_policy::move`                | Use ``std::move`` to move the return value contents into a new instance    |
+|                                                  | that will be owned by Python. This policy is comparably safe because the   |
+|                                                  | lifetimes of the two instances (move source and destination) are decoupled.|
++--------------------------------------------------+----------------------------------------------------------------------------+
+| :enum:`return_value_policy::reference`           | Reference an existing object, but do not take ownership. The C++ side is   |
+|                                                  | responsible for managing the object's lifetime and deallocating it when    |
+|                                                  | it is no longer used. Warning: undefined behavior will ensue when the C++  |
+|                                                  | side deletes an object that is still referenced and used by Python.        |
++--------------------------------------------------+----------------------------------------------------------------------------+
+| :enum:`return_value_policy::reference_internal`  | Indicates that the lifetime of the return value is tied to the lifetime    |
+|                                                  | of a parent object, namely the implicit ``this``, or ``self`` argument of  |
+|                                                  | the called method or property. Internally, this policy works just like     |
+|                                                  | :enum:`return_value_policy::reference` but additionally applies a          |
+|                                                  | ``keep_alive<0, 1>`` *call policy* (described in the next section) that    |
+|                                                  | prevents the parent object from being garbage collected as long as the     |
+|                                                  | return value is referenced by Python. This is the default policy for       |
+|                                                  | property getters created via ``def_property``, ``def_readwrite``, etc.     |
++--------------------------------------------------+----------------------------------------------------------------------------+
+| :enum:`return_value_policy::automatic`           | **Default policy.** This policy falls back to the policy                   |
+|                                                  | :enum:`return_value_policy::take_ownership` when the return value is a     |
+|                                                  | pointer. Otherwise, it uses :enum:`return_value_policy::move` or           |
+|                                                  | :enum:`return_value_policy::copy` for rvalue and lvalue references,        |
+|                                                  | respectively. See above for a description of what all of these different   |
+|                                                  | policies do.                                                               |
++--------------------------------------------------+----------------------------------------------------------------------------+
+| :enum:`return_value_policy::automatic_reference` | As above, but use policy :enum:`return_value_policy::reference` when the   |
+|                                                  | return value is a pointer. This is the default conversion policy for       |
+|                                                  | function arguments when calling Python functions manually from C++ code    |
+|                                                  | (i.e. via handle::operator()). You probably won't need to use this.        |
++--------------------------------------------------+----------------------------------------------------------------------------+
+
+Return value policies can also be applied to properties:
+
+.. code-block:: cpp
+
+    class_<MyClass>(m, "MyClass")
+        .def_property("data", &MyClass::getData, &MyClass::setData,
+                      py::return_value_policy::copy);
+
+Technically, the code above applies the policy to both the getter and the
+setter function, however, the setter doesn't really care about *return*
+value policies which makes this a convenient terse syntax. Alternatively,
+targeted arguments can be passed through the :class:`cpp_function` constructor:
+
+.. code-block:: cpp
+
+    class_<MyClass>(m, "MyClass")
+        .def_property("data"
+            py::cpp_function(&MyClass::getData, py::return_value_policy::copy),
+            py::cpp_function(&MyClass::setData)
+        );
+
+.. warning::
+
+    Code with invalid return value policies might access uninitialized memory or
+    free data structures multiple times, which can lead to hard-to-debug
+    non-determinism and segmentation faults, hence it is worth spending the
+    time to understand all the different options in the table above.
+
+.. note::
+
+    One important aspect of the above policies is that they only apply to
+    instances which pybind11 has *not* seen before, in which case the policy
+    clarifies essential questions about the return value's lifetime and
+    ownership.  When pybind11 knows the instance already (as identified by its
+    type and address in memory), it will return the existing Python object
+    wrapper rather than creating a new copy.
+
+.. note::
+
+    The next section on :ref:`call_policies` discusses *call policies* that can be
+    specified *in addition* to a return value policy from the list above. Call
+    policies indicate reference relationships that can involve both return values
+    and parameters of functions.
+
+.. note::
+
+   As an alternative to elaborate call policies and lifetime management logic,
+   consider using smart pointers (see the section on :ref:`smart_pointers` for
+   details). Smart pointers can tell whether an object is still referenced from
+   C++ or Python, which generally eliminates the kinds of inconsistencies that
+   can lead to crashes or undefined behavior. For functions returning smart
+   pointers, it is not necessary to specify a return value policy.
+
+.. _call_policies:
+
+Additional call policies
+========================
+
+In addition to the above return value policies, further *call policies* can be
+specified to indicate dependencies between parameters or ensure a certain state
+for the function call.
+
+Keep alive
+----------
+
+In general, this policy is required when the C++ object is any kind of container
+and another object is being added to the container. ``keep_alive<Nurse, Patient>``
+indicates that the argument with index ``Patient`` should be kept alive at least
+until the argument with index ``Nurse`` is freed by the garbage collector. Argument
+indices start at one, while zero refers to the return value. For methods, index
+``1`` refers to the implicit ``this`` pointer, while regular arguments begin at
+index ``2``. Arbitrarily many call policies can be specified. When a ``Nurse``
+with value ``None`` is detected at runtime, the call policy does nothing.
+
+When the nurse is not a pybind11-registered type, the implementation internally
+relies on the ability to create a *weak reference* to the nurse object. When
+the nurse object is not a pybind11-registered type and does not support weak
+references, an exception will be thrown.
+
+Consider the following example: here, the binding code for a list append
+operation ties the lifetime of the newly added element to the underlying
+container:
+
+.. code-block:: cpp
+
+    py::class_<List>(m, "List")
+        .def("append", &List::append, py::keep_alive<1, 2>());
+
+For consistency, the argument indexing is identical for constructors. Index
+``1`` still refers to the implicit ``this`` pointer, i.e. the object which is
+being constructed. Index ``0`` refers to the return type which is presumed to
+be ``void`` when a constructor is viewed like a function. The following example
+ties the lifetime of the constructor element to the constructed object:
+
+.. code-block:: cpp
+
+    py::class_<Nurse>(m, "Nurse")
+        .def(py::init<Patient &>(), py::keep_alive<1, 2>());
+
+.. note::
+
+    ``keep_alive`` is analogous to the ``with_custodian_and_ward`` (if Nurse,
+    Patient != 0) and ``with_custodian_and_ward_postcall`` (if Nurse/Patient ==
+    0) policies from Boost.Python.
+
+Call guard
+----------
+
+The ``call_guard<T>`` policy allows any scope guard type ``T`` to be placed
+around the function call. For example, this definition:
+
+.. code-block:: cpp
+
+    m.def("foo", foo, py::call_guard<T>());
+
+is equivalent to the following pseudocode:
+
+.. code-block:: cpp
+
+    m.def("foo", [](args...) {
+        T scope_guard;
+        return foo(args...); // forwarded arguments
+    });
+
+The only requirement is that ``T`` is default-constructible, but otherwise any
+scope guard will work. This is very useful in combination with `gil_scoped_release`.
+See :ref:`gil`.
+
+Multiple guards can also be specified as ``py::call_guard<T1, T2, T3...>``. The
+constructor order is left to right and destruction happens in reverse.
+
+.. seealso::
+
+    The file :file:`tests/test_call_policies.cpp` contains a complete example
+    that demonstrates using `keep_alive` and `call_guard` in more detail.
+
+.. _python_objects_as_args:
+
+Python objects as arguments
+===========================
+
+pybind11 exposes all major Python types using thin C++ wrapper classes. These
+wrapper classes can also be used as parameters of functions in bindings, which
+makes it possible to directly work with native Python types on the C++ side.
+For instance, the following statement iterates over a Python ``dict``:
+
+.. code-block:: cpp
+
+    void print_dict(py::dict dict) {
+        /* Easily interact with Python types */
+        for (auto item : dict)
+            std::cout << "key=" << std::string(py::str(item.first)) << ", "
+                      << "value=" << std::string(py::str(item.second)) << std::endl;
+    }
+
+It can be exported:
+
+.. code-block:: cpp
+
+    m.def("print_dict", &print_dict);
+
+And used in Python as usual:
+
+.. code-block:: pycon
+
+    >>> print_dict({'foo': 123, 'bar': 'hello'})
+    key=foo, value=123
+    key=bar, value=hello
+
+For more information on using Python objects in C++, see :doc:`/advanced/pycpp/index`.
+
+Accepting \*args and \*\*kwargs
+===============================
+
+Python provides a useful mechanism to define functions that accept arbitrary
+numbers of arguments and keyword arguments:
+
+.. code-block:: python
+
+   def generic(*args, **kwargs):
+       ...  # do something with args and kwargs
+
+Such functions can also be created using pybind11:
+
+.. code-block:: cpp
+
+   void generic(py::args args, py::kwargs kwargs) {
+       /// .. do something with args
+       if (kwargs)
+           /// .. do something with kwargs
+   }
+
+   /// Binding code
+   m.def("generic", &generic);
+
+The class ``py::args`` derives from ``py::tuple`` and ``py::kwargs`` derives
+from ``py::dict``.
+
+You may also use just one or the other, and may combine these with other
+arguments as long as the ``py::args`` and ``py::kwargs`` arguments are the last
+arguments accepted by the function.
+
+Please refer to the other examples for details on how to iterate over these,
+and on how to cast their entries into C++ objects. A demonstration is also
+available in ``tests/test_kwargs_and_defaults.cpp``.
+
+.. note::
+
+    When combining \*args or \*\*kwargs with :ref:`keyword_args` you should
+    *not* include ``py::arg`` tags for the ``py::args`` and ``py::kwargs``
+    arguments.
+
+Default arguments revisited
+===========================
+
+The section on :ref:`default_args` previously discussed basic usage of default
+arguments using pybind11. One noteworthy aspect of their implementation is that
+default arguments are converted to Python objects right at declaration time.
+Consider the following example:
+
+.. code-block:: cpp
+
+    py::class_<MyClass>("MyClass")
+        .def("myFunction", py::arg("arg") = SomeType(123));
+
+In this case, pybind11 must already be set up to deal with values of the type
+``SomeType`` (via a prior instantiation of ``py::class_<SomeType>``), or an
+exception will be thrown.
+
+Another aspect worth highlighting is that the "preview" of the default argument
+in the function signature is generated using the object's ``__repr__`` method.
+If not available, the signature may not be very helpful, e.g.:
+
+.. code-block:: pycon
+
+    FUNCTIONS
+    ...
+    |  myFunction(...)
+    |      Signature : (MyClass, arg : SomeType = <SomeType object at 0x101b7b080>) -> NoneType
+    ...
+
+The first way of addressing this is by defining ``SomeType.__repr__``.
+Alternatively, it is possible to specify the human-readable preview of the
+default argument manually using the ``arg_v`` notation:
+
+.. code-block:: cpp
+
+    py::class_<MyClass>("MyClass")
+        .def("myFunction", py::arg_v("arg", SomeType(123), "SomeType(123)"));
+
+Sometimes it may be necessary to pass a null pointer value as a default
+argument. In this case, remember to cast it to the underlying type in question,
+like so:
+
+.. code-block:: cpp
+
+    py::class_<MyClass>("MyClass")
+        .def("myFunction", py::arg("arg") = static_cast<SomeType *>(nullptr));
+
+Keyword-only arguments
+======================
+
+Python 3 introduced keyword-only arguments by specifying an unnamed ``*``
+argument in a function definition:
+
+.. code-block:: python
+
+    def f(a, *, b):  # a can be positional or via keyword; b must be via keyword
+        pass
+
+    f(a=1, b=2)  # good
+    f(b=2, a=1)  # good
+    f(1, b=2)    # good
+    f(1, 2)      # TypeError: f() takes 1 positional argument but 2 were given
+
+Pybind11 provides a ``py::kw_only`` object that allows you to implement
+the same behaviour by specifying the object between positional and keyword-only
+argument annotations when registering the function:
+
+.. code-block:: cpp
+
+    m.def("f", [](int a, int b) { /* ... */ },
+          py::arg("a"), py::kw_only(), py::arg("b"));
+
+Note that you currently cannot combine this with a ``py::args`` argument.  This
+feature does *not* require Python 3 to work.
+
+.. versionadded:: 2.6
+
+Positional-only arguments
+=========================
+
+Python 3.8 introduced a new positional-only argument syntax, using ``/`` in the
+function definition (note that this has been a convention for CPython
+positional arguments, such as in ``pow()``, since Python 2). You can
+do the same thing in any version of Python using ``py::pos_only()``:
+
+.. code-block:: cpp
+
+   m.def("f", [](int a, int b) { /* ... */ },
+          py::arg("a"), py::pos_only(), py::arg("b"));
+
+You now cannot give argument ``a`` by keyword. This can be combined with
+keyword-only arguments, as well.
+
+.. versionadded:: 2.6
+
+.. _nonconverting_arguments:
+
+Non-converting arguments
+========================
+
+Certain argument types may support conversion from one type to another.  Some
+examples of conversions are:
+
+* :ref:`implicit_conversions` declared using ``py::implicitly_convertible<A,B>()``
+* Calling a method accepting a double with an integer argument
+* Calling a ``std::complex<float>`` argument with a non-complex python type
+  (for example, with a float).  (Requires the optional ``pybind11/complex.h``
+  header).
+* Calling a function taking an Eigen matrix reference with a numpy array of the
+  wrong type or of an incompatible data layout.  (Requires the optional
+  ``pybind11/eigen.h`` header).
+
+This behaviour is sometimes undesirable: the binding code may prefer to raise
+an error rather than convert the argument.  This behaviour can be obtained
+through ``py::arg`` by calling the ``.noconvert()`` method of the ``py::arg``
+object, such as:
+
+.. code-block:: cpp
+
+    m.def("floats_only", [](double f) { return 0.5 * f; }, py::arg("f").noconvert());
+    m.def("floats_preferred", [](double f) { return 0.5 * f; }, py::arg("f"));
+
+Attempting the call the second function (the one without ``.noconvert()``) with
+an integer will succeed, but attempting to call the ``.noconvert()`` version
+will fail with a ``TypeError``:
+
+.. code-block:: pycon
+
+    >>> floats_preferred(4)
+    2.0
+    >>> floats_only(4)
+    Traceback (most recent call last):
+      File "<stdin>", line 1, in <module>
+    TypeError: floats_only(): incompatible function arguments. The following argument types are supported:
+        1. (f: float) -> float
+
+    Invoked with: 4
+
+You may, of course, combine this with the :var:`_a` shorthand notation (see
+:ref:`keyword_args`) and/or :ref:`default_args`.  It is also permitted to omit
+the argument name by using the ``py::arg()`` constructor without an argument
+name, i.e. by specifying ``py::arg().noconvert()``.
+
+.. note::
+
+    When specifying ``py::arg`` options it is necessary to provide the same
+    number of options as the bound function has arguments.  Thus if you want to
+    enable no-convert behaviour for just one of several arguments, you will
+    need to specify a ``py::arg()`` annotation for each argument with the
+    no-convert argument modified to ``py::arg().noconvert()``.
+
+.. _none_arguments:
+
+Allow/Prohibiting None arguments
+================================
+
+When a C++ type registered with :class:`py::class_` is passed as an argument to
+a function taking the instance as pointer or shared holder (e.g. ``shared_ptr``
+or a custom, copyable holder as described in :ref:`smart_pointers`), pybind
+allows ``None`` to be passed from Python which results in calling the C++
+function with ``nullptr`` (or an empty holder) for the argument.
+
+To explicitly enable or disable this behaviour, using the
+``.none`` method of the :class:`py::arg` object:
+
+.. code-block:: cpp
+
+    py::class_<Dog>(m, "Dog").def(py::init<>());
+    py::class_<Cat>(m, "Cat").def(py::init<>());
+    m.def("bark", [](Dog *dog) -> std::string {
+        if (dog) return "woof!"; /* Called with a Dog instance */
+        else return "(no dog)"; /* Called with None, dog == nullptr */
+    }, py::arg("dog").none(true));
+    m.def("meow", [](Cat *cat) -> std::string {
+        // Can't be called with None argument
+        return "meow";
+    }, py::arg("cat").none(false));
+
+With the above, the Python call ``bark(None)`` will return the string ``"(no
+dog)"``, while attempting to call ``meow(None)`` will raise a ``TypeError``:
+
+.. code-block:: pycon
+
+    >>> from animals import Dog, Cat, bark, meow
+    >>> bark(Dog())
+    'woof!'
+    >>> meow(Cat())
+    'meow'
+    >>> bark(None)
+    '(no dog)'
+    >>> meow(None)
+    Traceback (most recent call last):
+      File "<stdin>", line 1, in <module>
+    TypeError: meow(): incompatible function arguments. The following argument types are supported:
+        1. (cat: animals.Cat) -> str
+
+    Invoked with: None
+
+The default behaviour when the tag is unspecified is to allow ``None``.
+
+.. note::
+
+    Even when ``.none(true)`` is specified for an argument, ``None`` will be converted to a
+    ``nullptr`` *only* for custom and :ref:`opaque <opaque>` types. Pointers to built-in types
+    (``double *``, ``int *``, ...) and STL types (``std::vector<T> *``, ...; if ``pybind11/stl.h``
+    is included) are copied when converted to C++ (see :doc:`/advanced/cast/overview`) and will
+    not allow ``None`` as argument.  To pass optional argument of these copied types consider
+    using ``std::optional<T>``
+
+Overload resolution order
+=========================
+
+When a function or method with multiple overloads is called from Python,
+pybind11 determines which overload to call in two passes.  The first pass
+attempts to call each overload without allowing argument conversion (as if
+every argument had been specified as ``py::arg().noconvert()`` as described
+above).
+
+If no overload succeeds in the no-conversion first pass, a second pass is
+attempted in which argument conversion is allowed (except where prohibited via
+an explicit ``py::arg().noconvert()`` attribute in the function definition).
+
+If the second pass also fails a ``TypeError`` is raised.
+
+Within each pass, overloads are tried in the order they were registered with
+pybind11. If the ``py::prepend()`` tag is added to the definition, a function
+can be placed at the beginning of the overload sequence instead, allowing user
+overloads to proceed built in functions.
+
+What this means in practice is that pybind11 will prefer any overload that does
+not require conversion of arguments to an overload that does, but otherwise
+prefers earlier-defined overloads to later-defined ones.
+
+.. note::
+
+    pybind11 does *not* further prioritize based on the number/pattern of
+    overloaded arguments.  That is, pybind11 does not prioritize a function
+    requiring one conversion over one requiring three, but only prioritizes
+    overloads requiring no conversion at all to overloads that require
+    conversion of at least one argument.
+
+.. versionadded:: 2.6
+
+    The ``py::prepend()`` tag.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/misc.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/misc.rst
new file mode 100644
index 0000000..b3f3b22
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/misc.rst
@@ -0,0 +1,337 @@
+Miscellaneous
+#############
+
+.. _macro_notes:
+
+General notes regarding convenience macros
+==========================================
+
+pybind11 provides a few convenience macros such as
+:func:`PYBIND11_DECLARE_HOLDER_TYPE` and ``PYBIND11_OVERRIDE_*``. Since these
+are "just" macros that are evaluated in the preprocessor (which has no concept
+of types), they *will* get confused by commas in a template argument; for
+example, consider:
+
+.. code-block:: cpp
+
+    PYBIND11_OVERRIDE(MyReturnType<T1, T2>, Class<T3, T4>, func)
+
+The limitation of the C preprocessor interprets this as five arguments (with new
+arguments beginning after each comma) rather than three.  To get around this,
+there are two alternatives: you can use a type alias, or you can wrap the type
+using the ``PYBIND11_TYPE`` macro:
+
+.. code-block:: cpp
+
+    // Version 1: using a type alias
+    using ReturnType = MyReturnType<T1, T2>;
+    using ClassType = Class<T3, T4>;
+    PYBIND11_OVERRIDE(ReturnType, ClassType, func);
+
+    // Version 2: using the PYBIND11_TYPE macro:
+    PYBIND11_OVERRIDE(PYBIND11_TYPE(MyReturnType<T1, T2>),
+                      PYBIND11_TYPE(Class<T3, T4>), func)
+
+The ``PYBIND11_MAKE_OPAQUE`` macro does *not* require the above workarounds.
+
+.. _gil:
+
+Global Interpreter Lock (GIL)
+=============================
+
+When calling a C++ function from Python, the GIL is always held.
+The classes :class:`gil_scoped_release` and :class:`gil_scoped_acquire` can be
+used to acquire and release the global interpreter lock in the body of a C++
+function call. In this way, long-running C++ code can be parallelized using
+multiple Python threads. Taking :ref:`overriding_virtuals` as an example, this
+could be realized as follows (important changes highlighted):
+
+.. code-block:: cpp
+    :emphasize-lines: 8,9,31,32
+
+    class PyAnimal : public Animal {
+    public:
+        /* Inherit the constructors */
+        using Animal::Animal;
+
+        /* Trampoline (need one for each virtual function) */
+        std::string go(int n_times) {
+            /* Acquire GIL before calling Python code */
+            py::gil_scoped_acquire acquire;
+
+            PYBIND11_OVERRIDE_PURE(
+                std::string, /* Return type */
+                Animal,      /* Parent class */
+                go,          /* Name of function */
+                n_times      /* Argument(s) */
+            );
+        }
+    };
+
+    PYBIND11_MODULE(example, m) {
+        py::class_<Animal, PyAnimal> animal(m, "Animal");
+        animal
+            .def(py::init<>())
+            .def("go", &Animal::go);
+
+        py::class_<Dog>(m, "Dog", animal)
+            .def(py::init<>());
+
+        m.def("call_go", [](Animal *animal) -> std::string {
+            /* Release GIL before calling into (potentially long-running) C++ code */
+            py::gil_scoped_release release;
+            return call_go(animal);
+        });
+    }
+
+The ``call_go`` wrapper can also be simplified using the `call_guard` policy
+(see :ref:`call_policies`) which yields the same result:
+
+.. code-block:: cpp
+
+    m.def("call_go", &call_go, py::call_guard<py::gil_scoped_release>());
+
+
+Binding sequence data types, iterators, the slicing protocol, etc.
+==================================================================
+
+Please refer to the supplemental example for details.
+
+.. seealso::
+
+    The file :file:`tests/test_sequences_and_iterators.cpp` contains a
+    complete example that shows how to bind a sequence data type, including
+    length queries (``__len__``), iterators (``__iter__``), the slicing
+    protocol and other kinds of useful operations.
+
+
+Partitioning code over multiple extension modules
+=================================================
+
+It's straightforward to split binding code over multiple extension modules,
+while referencing types that are declared elsewhere. Everything "just" works
+without any special precautions. One exception to this rule occurs when
+extending a type declared in another extension module. Recall the basic example
+from Section :ref:`inheritance`.
+
+.. code-block:: cpp
+
+    py::class_<Pet> pet(m, "Pet");
+    pet.def(py::init<const std::string &>())
+       .def_readwrite("name", &Pet::name);
+
+    py::class_<Dog>(m, "Dog", pet /* <- specify parent */)
+        .def(py::init<const std::string &>())
+        .def("bark", &Dog::bark);
+
+Suppose now that ``Pet`` bindings are defined in a module named ``basic``,
+whereas the ``Dog`` bindings are defined somewhere else. The challenge is of
+course that the variable ``pet`` is not available anymore though it is needed
+to indicate the inheritance relationship to the constructor of ``class_<Dog>``.
+However, it can be acquired as follows:
+
+.. code-block:: cpp
+
+    py::object pet = (py::object) py::module_::import("basic").attr("Pet");
+
+    py::class_<Dog>(m, "Dog", pet)
+        .def(py::init<const std::string &>())
+        .def("bark", &Dog::bark);
+
+Alternatively, you can specify the base class as a template parameter option to
+``class_``, which performs an automated lookup of the corresponding Python
+type. Like the above code, however, this also requires invoking the ``import``
+function once to ensure that the pybind11 binding code of the module ``basic``
+has been executed:
+
+.. code-block:: cpp
+
+    py::module_::import("basic");
+
+    py::class_<Dog, Pet>(m, "Dog")
+        .def(py::init<const std::string &>())
+        .def("bark", &Dog::bark);
+
+Naturally, both methods will fail when there are cyclic dependencies.
+
+Note that pybind11 code compiled with hidden-by-default symbol visibility (e.g.
+via the command line flag ``-fvisibility=hidden`` on GCC/Clang), which is
+required for proper pybind11 functionality, can interfere with the ability to
+access types defined in another extension module.  Working around this requires
+manually exporting types that are accessed by multiple extension modules;
+pybind11 provides a macro to do just this:
+
+.. code-block:: cpp
+
+    class PYBIND11_EXPORT Dog : public Animal {
+        ...
+    };
+
+Note also that it is possible (although would rarely be required) to share arbitrary
+C++ objects between extension modules at runtime. Internal library data is shared
+between modules using capsule machinery [#f6]_ which can be also utilized for
+storing, modifying and accessing user-defined data. Note that an extension module
+will "see" other extensions' data if and only if they were built with the same
+pybind11 version. Consider the following example:
+
+.. code-block:: cpp
+
+    auto data = reinterpret_cast<MyData *>(py::get_shared_data("mydata"));
+    if (!data)
+        data = static_cast<MyData *>(py::set_shared_data("mydata", new MyData(42)));
+
+If the above snippet was used in several separately compiled extension modules,
+the first one to be imported would create a ``MyData`` instance and associate
+a ``"mydata"`` key with a pointer to it. Extensions that are imported later
+would be then able to access the data behind the same pointer.
+
+.. [#f6] https://docs.python.org/3/extending/extending.html#using-capsules
+
+Module Destructors
+==================
+
+pybind11 does not provide an explicit mechanism to invoke cleanup code at
+module destruction time. In rare cases where such functionality is required, it
+is possible to emulate it using Python capsules or weak references with a
+destruction callback.
+
+.. code-block:: cpp
+
+    auto cleanup_callback = []() {
+        // perform cleanup here -- this function is called with the GIL held
+    };
+
+    m.add_object("_cleanup", py::capsule(cleanup_callback));
+
+This approach has the potential downside that instances of classes exposed
+within the module may still be alive when the cleanup callback is invoked
+(whether this is acceptable will generally depend on the application).
+
+Alternatively, the capsule may also be stashed within a type object, which
+ensures that it not called before all instances of that type have been
+collected:
+
+.. code-block:: cpp
+
+    auto cleanup_callback = []() { /* ... */ };
+    m.attr("BaseClass").attr("_cleanup") = py::capsule(cleanup_callback);
+
+Both approaches also expose a potentially dangerous ``_cleanup`` attribute in
+Python, which may be undesirable from an API standpoint (a premature explicit
+call from Python might lead to undefined behavior). Yet another approach that
+avoids this issue involves weak reference with a cleanup callback:
+
+.. code-block:: cpp
+
+    // Register a callback function that is invoked when the BaseClass object is collected
+    py::cpp_function cleanup_callback(
+        [](py::handle weakref) {
+            // perform cleanup here -- this function is called with the GIL held
+
+            weakref.dec_ref(); // release weak reference
+        }
+    );
+
+    // Create a weak reference with a cleanup callback and initially leak it
+    (void) py::weakref(m.attr("BaseClass"), cleanup_callback).release();
+
+.. note::
+
+    PyPy does not garbage collect objects when the interpreter exits. An alternative
+    approach (which also works on CPython) is to use the :py:mod:`atexit` module [#f7]_,
+    for example:
+
+    .. code-block:: cpp
+
+        auto atexit = py::module_::import("atexit");
+        atexit.attr("register")(py::cpp_function([]() {
+            // perform cleanup here -- this function is called with the GIL held
+        }));
+
+    .. [#f7] https://docs.python.org/3/library/atexit.html
+
+
+Generating documentation using Sphinx
+=====================================
+
+Sphinx [#f4]_ has the ability to inspect the signatures and documentation
+strings in pybind11-based extension modules to automatically generate beautiful
+documentation in a variety formats. The python_example repository [#f5]_ contains a
+simple example repository which uses this approach.
+
+There are two potential gotchas when using this approach: first, make sure that
+the resulting strings do not contain any :kbd:`TAB` characters, which break the
+docstring parsing routines. You may want to use C++11 raw string literals,
+which are convenient for multi-line comments. Conveniently, any excess
+indentation will be automatically be removed by Sphinx. However, for this to
+work, it is important that all lines are indented consistently, i.e.:
+
+.. code-block:: cpp
+
+    // ok
+    m.def("foo", &foo, R"mydelimiter(
+        The foo function
+
+        Parameters
+        ----------
+    )mydelimiter");
+
+    // *not ok*
+    m.def("foo", &foo, R"mydelimiter(The foo function
+
+        Parameters
+        ----------
+    )mydelimiter");
+
+By default, pybind11 automatically generates and prepends a signature to the docstring of a function
+registered with ``module_::def()`` and ``class_::def()``. Sometimes this
+behavior is not desirable, because you want to provide your own signature or remove
+the docstring completely to exclude the function from the Sphinx documentation.
+The class ``options`` allows you to selectively suppress auto-generated signatures:
+
+.. code-block:: cpp
+
+    PYBIND11_MODULE(example, m) {
+        py::options options;
+        options.disable_function_signatures();
+
+        m.def("add", [](int a, int b) { return a + b; }, "A function which adds two numbers");
+    }
+
+Note that changes to the settings affect only function bindings created during the
+lifetime of the ``options`` instance. When it goes out of scope at the end of the module's init function,
+the default settings are restored to prevent unwanted side effects.
+
+.. [#f4] http://www.sphinx-doc.org
+.. [#f5] http://github.com/pybind/python_example
+
+.. _avoiding-cpp-types-in-docstrings:
+
+Avoiding C++ types in docstrings
+================================
+
+Docstrings are generated at the time of the declaration, e.g. when ``.def(...)`` is called.
+At this point parameter and return types should be known to pybind11.
+If a custom type is not exposed yet through a ``py::class_`` constructor or a custom type caster,
+its C++ type name will be used instead to generate the signature in the docstring:
+
+.. code-block:: text
+
+     |  __init__(...)
+     |      __init__(self: example.Foo, arg0: ns::Bar) -> None
+                                              ^^^^^^^
+
+
+This limitation can be circumvented by ensuring that C++ classes are registered with pybind11
+before they are used as a parameter or return type of a function:
+
+.. code-block:: cpp
+
+    PYBIND11_MODULE(example, m) {
+
+        auto pyFoo = py::class_<ns::Foo>(m, "Foo");
+        auto pyBar = py::class_<ns::Bar>(m, "Bar");
+
+        pyFoo.def(py::init<const ns::Bar&>());
+        pyBar.def(py::init<const ns::Foo&>());
+    }
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/index.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/index.rst
new file mode 100644
index 0000000..6885bdc
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/index.rst
@@ -0,0 +1,13 @@
+Python C++ interface
+####################
+
+pybind11 exposes Python types and functions using thin C++ wrappers, which
+makes it possible to conveniently call Python code from C++ without resorting
+to Python's C API.
+
+.. toctree::
+   :maxdepth: 2
+
+   object
+   numpy
+   utilities
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/numpy.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/numpy.rst
new file mode 100644
index 0000000..e50d24a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/numpy.rst
@@ -0,0 +1,436 @@
+.. _numpy:
+
+NumPy
+#####
+
+Buffer protocol
+===============
+
+Python supports an extremely general and convenient approach for exchanging
+data between plugin libraries. Types can expose a buffer view [#f2]_, which
+provides fast direct access to the raw internal data representation. Suppose we
+want to bind the following simplistic Matrix class:
+
+.. code-block:: cpp
+
+    class Matrix {
+    public:
+        Matrix(size_t rows, size_t cols) : m_rows(rows), m_cols(cols) {
+            m_data = new float[rows*cols];
+        }
+        float *data() { return m_data; }
+        size_t rows() const { return m_rows; }
+        size_t cols() const { return m_cols; }
+    private:
+        size_t m_rows, m_cols;
+        float *m_data;
+    };
+
+The following binding code exposes the ``Matrix`` contents as a buffer object,
+making it possible to cast Matrices into NumPy arrays. It is even possible to
+completely avoid copy operations with Python expressions like
+``np.array(matrix_instance, copy = False)``.
+
+.. code-block:: cpp
+
+    py::class_<Matrix>(m, "Matrix", py::buffer_protocol())
+       .def_buffer([](Matrix &m) -> py::buffer_info {
+            return py::buffer_info(
+                m.data(),                               /* Pointer to buffer */
+                sizeof(float),                          /* Size of one scalar */
+                py::format_descriptor<float>::format(), /* Python struct-style format descriptor */
+                2,                                      /* Number of dimensions */
+                { m.rows(), m.cols() },                 /* Buffer dimensions */
+                { sizeof(float) * m.cols(),             /* Strides (in bytes) for each index */
+                  sizeof(float) }
+            );
+        });
+
+Supporting the buffer protocol in a new type involves specifying the special
+``py::buffer_protocol()`` tag in the ``py::class_`` constructor and calling the
+``def_buffer()`` method with a lambda function that creates a
+``py::buffer_info`` description record on demand describing a given matrix
+instance. The contents of ``py::buffer_info`` mirror the Python buffer protocol
+specification.
+
+.. code-block:: cpp
+
+    struct buffer_info {
+        void *ptr;
+        ssize_t itemsize;
+        std::string format;
+        ssize_t ndim;
+        std::vector<ssize_t> shape;
+        std::vector<ssize_t> strides;
+    };
+
+To create a C++ function that can take a Python buffer object as an argument,
+simply use the type ``py::buffer`` as one of its arguments. Buffers can exist
+in a great variety of configurations, hence some safety checks are usually
+necessary in the function body. Below, you can see a basic example on how to
+define a custom constructor for the Eigen double precision matrix
+(``Eigen::MatrixXd``) type, which supports initialization from compatible
+buffer objects (e.g. a NumPy matrix).
+
+.. code-block:: cpp
+
+    /* Bind MatrixXd (or some other Eigen type) to Python */
+    typedef Eigen::MatrixXd Matrix;
+
+    typedef Matrix::Scalar Scalar;
+    constexpr bool rowMajor = Matrix::Flags & Eigen::RowMajorBit;
+
+    py::class_<Matrix>(m, "Matrix", py::buffer_protocol())
+        .def(py::init([](py::buffer b) {
+            typedef Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic> Strides;
+
+            /* Request a buffer descriptor from Python */
+            py::buffer_info info = b.request();
+
+            /* Some sanity checks ... */
+            if (info.format != py::format_descriptor<Scalar>::format())
+                throw std::runtime_error("Incompatible format: expected a double array!");
+
+            if (info.ndim != 2)
+                throw std::runtime_error("Incompatible buffer dimension!");
+
+            auto strides = Strides(
+                info.strides[rowMajor ? 0 : 1] / (py::ssize_t)sizeof(Scalar),
+                info.strides[rowMajor ? 1 : 0] / (py::ssize_t)sizeof(Scalar));
+
+            auto map = Eigen::Map<Matrix, 0, Strides>(
+                static_cast<Scalar *>(info.ptr), info.shape[0], info.shape[1], strides);
+
+            return Matrix(map);
+        }));
+
+For reference, the ``def_buffer()`` call for this Eigen data type should look
+as follows:
+
+.. code-block:: cpp
+
+    .def_buffer([](Matrix &m) -> py::buffer_info {
+        return py::buffer_info(
+            m.data(),                                /* Pointer to buffer */
+            sizeof(Scalar),                          /* Size of one scalar */
+            py::format_descriptor<Scalar>::format(), /* Python struct-style format descriptor */
+            2,                                       /* Number of dimensions */
+            { m.rows(), m.cols() },                  /* Buffer dimensions */
+            { sizeof(Scalar) * (rowMajor ? m.cols() : 1),
+              sizeof(Scalar) * (rowMajor ? 1 : m.rows()) }
+                                                     /* Strides (in bytes) for each index */
+        );
+     })
+
+For a much easier approach of binding Eigen types (although with some
+limitations), refer to the section on :doc:`/advanced/cast/eigen`.
+
+.. seealso::
+
+    The file :file:`tests/test_buffers.cpp` contains a complete example
+    that demonstrates using the buffer protocol with pybind11 in more detail.
+
+.. [#f2] http://docs.python.org/3/c-api/buffer.html
+
+Arrays
+======
+
+By exchanging ``py::buffer`` with ``py::array`` in the above snippet, we can
+restrict the function so that it only accepts NumPy arrays (rather than any
+type of Python object satisfying the buffer protocol).
+
+In many situations, we want to define a function which only accepts a NumPy
+array of a certain data type. This is possible via the ``py::array_t<T>``
+template. For instance, the following function requires the argument to be a
+NumPy array containing double precision values.
+
+.. code-block:: cpp
+
+    void f(py::array_t<double> array);
+
+When it is invoked with a different type (e.g. an integer or a list of
+integers), the binding code will attempt to cast the input into a NumPy array
+of the requested type. Note that this feature requires the
+:file:`pybind11/numpy.h` header to be included.
+
+Data in NumPy arrays is not guaranteed to packed in a dense manner;
+furthermore, entries can be separated by arbitrary column and row strides.
+Sometimes, it can be useful to require a function to only accept dense arrays
+using either the C (row-major) or Fortran (column-major) ordering. This can be
+accomplished via a second template argument with values ``py::array::c_style``
+or ``py::array::f_style``.
+
+.. code-block:: cpp
+
+    void f(py::array_t<double, py::array::c_style | py::array::forcecast> array);
+
+The ``py::array::forcecast`` argument is the default value of the second
+template parameter, and it ensures that non-conforming arguments are converted
+into an array satisfying the specified requirements instead of trying the next
+function overload.
+
+Structured types
+================
+
+In order for ``py::array_t`` to work with structured (record) types, we first
+need to register the memory layout of the type. This can be done via
+``PYBIND11_NUMPY_DTYPE`` macro, called in the plugin definition code, which
+expects the type followed by field names:
+
+.. code-block:: cpp
+
+    struct A {
+        int x;
+        double y;
+    };
+
+    struct B {
+        int z;
+        A a;
+    };
+
+    // ...
+    PYBIND11_MODULE(test, m) {
+        // ...
+
+        PYBIND11_NUMPY_DTYPE(A, x, y);
+        PYBIND11_NUMPY_DTYPE(B, z, a);
+        /* now both A and B can be used as template arguments to py::array_t */
+    }
+
+The structure should consist of fundamental arithmetic types, ``std::complex``,
+previously registered substructures, and arrays of any of the above. Both C++
+arrays and ``std::array`` are supported. While there is a static assertion to
+prevent many types of unsupported structures, it is still the user's
+responsibility to use only "plain" structures that can be safely manipulated as
+raw memory without violating invariants.
+
+Vectorizing functions
+=====================
+
+Suppose we want to bind a function with the following signature to Python so
+that it can process arbitrary NumPy array arguments (vectors, matrices, general
+N-D arrays) in addition to its normal arguments:
+
+.. code-block:: cpp
+
+    double my_func(int x, float y, double z);
+
+After including the ``pybind11/numpy.h`` header, this is extremely simple:
+
+.. code-block:: cpp
+
+    m.def("vectorized_func", py::vectorize(my_func));
+
+Invoking the function like below causes 4 calls to be made to ``my_func`` with
+each of the array elements. The significant advantage of this compared to
+solutions like ``numpy.vectorize()`` is that the loop over the elements runs
+entirely on the C++ side and can be crunched down into a tight, optimized loop
+by the compiler. The result is returned as a NumPy array of type
+``numpy.dtype.float64``.
+
+.. code-block:: pycon
+
+    >>> x = np.array([[1, 3],[5, 7]])
+    >>> y = np.array([[2, 4],[6, 8]])
+    >>> z = 3
+    >>> result = vectorized_func(x, y, z)
+
+The scalar argument ``z`` is transparently replicated 4 times.  The input
+arrays ``x`` and ``y`` are automatically converted into the right types (they
+are of type  ``numpy.dtype.int64`` but need to be ``numpy.dtype.int32`` and
+``numpy.dtype.float32``, respectively).
+
+.. note::
+
+    Only arithmetic, complex, and POD types passed by value or by ``const &``
+    reference are vectorized; all other arguments are passed through as-is.
+    Functions taking rvalue reference arguments cannot be vectorized.
+
+In cases where the computation is too complicated to be reduced to
+``vectorize``, it will be necessary to create and access the buffer contents
+manually. The following snippet contains a complete example that shows how this
+works (the code is somewhat contrived, since it could have been done more
+simply using ``vectorize``).
+
+.. code-block:: cpp
+
+    #include <pybind11/pybind11.h>
+    #include <pybind11/numpy.h>
+
+    namespace py = pybind11;
+
+    py::array_t<double> add_arrays(py::array_t<double> input1, py::array_t<double> input2) {
+        py::buffer_info buf1 = input1.request(), buf2 = input2.request();
+
+        if (buf1.ndim != 1 || buf2.ndim != 1)
+            throw std::runtime_error("Number of dimensions must be one");
+
+        if (buf1.size != buf2.size)
+            throw std::runtime_error("Input shapes must match");
+
+        /* No pointer is passed, so NumPy will allocate the buffer */
+        auto result = py::array_t<double>(buf1.size);
+
+        py::buffer_info buf3 = result.request();
+
+        double *ptr1 = static_cast<double *>(buf1.ptr);
+        double *ptr2 = static_cast<double *>(buf2.ptr);
+        double *ptr3 = static_cast<double *>(buf3.ptr);
+
+        for (size_t idx = 0; idx < buf1.shape[0]; idx++)
+            ptr3[idx] = ptr1[idx] + ptr2[idx];
+
+        return result;
+    }
+
+    PYBIND11_MODULE(test, m) {
+        m.def("add_arrays", &add_arrays, "Add two NumPy arrays");
+    }
+
+.. seealso::
+
+    The file :file:`tests/test_numpy_vectorize.cpp` contains a complete
+    example that demonstrates using :func:`vectorize` in more detail.
+
+Direct access
+=============
+
+For performance reasons, particularly when dealing with very large arrays, it
+is often desirable to directly access array elements without internal checking
+of dimensions and bounds on every access when indices are known to be already
+valid.  To avoid such checks, the ``array`` class and ``array_t<T>`` template
+class offer an unchecked proxy object that can be used for this unchecked
+access through the ``unchecked<N>`` and ``mutable_unchecked<N>`` methods,
+where ``N`` gives the required dimensionality of the array:
+
+.. code-block:: cpp
+
+    m.def("sum_3d", [](py::array_t<double> x) {
+        auto r = x.unchecked<3>(); // x must have ndim = 3; can be non-writeable
+        double sum = 0;
+        for (ssize_t i = 0; i < r.shape(0); i++)
+            for (ssize_t j = 0; j < r.shape(1); j++)
+                for (ssize_t k = 0; k < r.shape(2); k++)
+                    sum += r(i, j, k);
+        return sum;
+    });
+    m.def("increment_3d", [](py::array_t<double> x) {
+        auto r = x.mutable_unchecked<3>(); // Will throw if ndim != 3 or flags.writeable is false
+        for (ssize_t i = 0; i < r.shape(0); i++)
+            for (ssize_t j = 0; j < r.shape(1); j++)
+                for (ssize_t k = 0; k < r.shape(2); k++)
+                    r(i, j, k) += 1.0;
+    }, py::arg().noconvert());
+
+To obtain the proxy from an ``array`` object, you must specify both the data
+type and number of dimensions as template arguments, such as ``auto r =
+myarray.mutable_unchecked<float, 2>()``.
+
+If the number of dimensions is not known at compile time, you can omit the
+dimensions template parameter (i.e. calling ``arr_t.unchecked()`` or
+``arr.unchecked<T>()``.  This will give you a proxy object that works in the
+same way, but results in less optimizable code and thus a small efficiency
+loss in tight loops.
+
+Note that the returned proxy object directly references the array's data, and
+only reads its shape, strides, and writeable flag when constructed.  You must
+take care to ensure that the referenced array is not destroyed or reshaped for
+the duration of the returned object, typically by limiting the scope of the
+returned instance.
+
+The returned proxy object supports some of the same methods as ``py::array`` so
+that it can be used as a drop-in replacement for some existing, index-checked
+uses of ``py::array``:
+
+- ``r.ndim()`` returns the number of dimensions
+
+- ``r.data(1, 2, ...)`` and ``r.mutable_data(1, 2, ...)``` returns a pointer to
+  the ``const T`` or ``T`` data, respectively, at the given indices.  The
+  latter is only available to proxies obtained via ``a.mutable_unchecked()``.
+
+- ``itemsize()`` returns the size of an item in bytes, i.e. ``sizeof(T)``.
+
+- ``ndim()`` returns the number of dimensions.
+
+- ``shape(n)`` returns the size of dimension ``n``
+
+- ``size()`` returns the total number of elements (i.e. the product of the shapes).
+
+- ``nbytes()`` returns the number of bytes used by the referenced elements
+  (i.e. ``itemsize()`` times ``size()``).
+
+.. seealso::
+
+    The file :file:`tests/test_numpy_array.cpp` contains additional examples
+    demonstrating the use of this feature.
+
+Ellipsis
+========
+
+Python 3 provides a convenient ``...`` ellipsis notation that is often used to
+slice multidimensional arrays. For instance, the following snippet extracts the
+middle dimensions of a tensor with the first and last index set to zero.
+In Python 2, the syntactic sugar ``...`` is not available, but the singleton
+``Ellipsis`` (of type ``ellipsis``) can still be used directly.
+
+.. code-block:: python
+
+   a = # a NumPy array
+   b = a[0, ..., 0]
+
+The function ``py::ellipsis()`` function can be used to perform the same
+operation on the C++ side:
+
+.. code-block:: cpp
+
+   py::array a = /* A NumPy array */;
+   py::array b = a[py::make_tuple(0, py::ellipsis(), 0)];
+
+.. versionchanged:: 2.6
+   ``py::ellipsis()`` is now also avaliable in Python 2.
+
+Memory view
+===========
+
+For a case when we simply want to provide a direct accessor to C/C++ buffer
+without a concrete class object, we can return a ``memoryview`` object. Suppose
+we wish to expose a ``memoryview`` for 2x4 uint8_t array, we can do the
+following:
+
+.. code-block:: cpp
+
+    const uint8_t buffer[] = {
+        0, 1, 2, 3,
+        4, 5, 6, 7
+    };
+    m.def("get_memoryview2d", []() {
+        return py::memoryview::from_buffer(
+            buffer,                                    // buffer pointer
+            { 2, 4 },                                  // shape (rows, cols)
+            { sizeof(uint8_t) * 4, sizeof(uint8_t) }   // strides in bytes
+        );
+    })
+
+This approach is meant for providing a ``memoryview`` for a C/C++ buffer not
+managed by Python. The user is responsible for managing the lifetime of the
+buffer. Using a ``memoryview`` created in this way after deleting the buffer in
+C++ side results in undefined behavior.
+
+We can also use ``memoryview::from_memory`` for a simple 1D contiguous buffer:
+
+.. code-block:: cpp
+
+    m.def("get_memoryview1d", []() {
+        return py::memoryview::from_memory(
+            buffer,               // buffer pointer
+            sizeof(uint8_t) * 8   // buffer size
+        );
+    })
+
+.. note::
+
+    ``memoryview::from_memory`` is not available in Python 2.
+
+.. versionchanged:: 2.6
+    ``memoryview::from_memory`` added.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/object.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/object.rst
new file mode 100644
index 0000000..6c7525c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/object.rst
@@ -0,0 +1,251 @@
+Python types
+############
+
+.. _wrappers:
+
+Available wrappers
+==================
+
+All major Python types are available as thin C++ wrapper classes. These
+can also be used as function parameters -- see :ref:`python_objects_as_args`.
+
+Available types include :class:`handle`, :class:`object`, :class:`bool_`,
+:class:`int_`, :class:`float_`, :class:`str`, :class:`bytes`, :class:`tuple`,
+:class:`list`, :class:`dict`, :class:`slice`, :class:`none`, :class:`capsule`,
+:class:`iterable`, :class:`iterator`, :class:`function`, :class:`buffer`,
+:class:`array`, and :class:`array_t`.
+
+.. warning::
+
+    Be sure to review the :ref:`pytypes_gotchas` before using this heavily in
+    your C++ API.
+
+.. _casting_back_and_forth:
+
+Casting back and forth
+======================
+
+In this kind of mixed code, it is often necessary to convert arbitrary C++
+types to Python, which can be done using :func:`py::cast`:
+
+.. code-block:: cpp
+
+    MyClass *cls = ..;
+    py::object obj = py::cast(cls);
+
+The reverse direction uses the following syntax:
+
+.. code-block:: cpp
+
+    py::object obj = ...;
+    MyClass *cls = obj.cast<MyClass *>();
+
+When conversion fails, both directions throw the exception :class:`cast_error`.
+
+.. _python_libs:
+
+Accessing Python libraries from C++
+===================================
+
+It is also possible to import objects defined in the Python standard
+library or available in the current Python environment (``sys.path``) and work
+with these in C++.
+
+This example obtains a reference to the Python ``Decimal`` class.
+
+.. code-block:: cpp
+
+    // Equivalent to "from decimal import Decimal"
+    py::object Decimal = py::module_::import("decimal").attr("Decimal");
+
+.. code-block:: cpp
+
+    // Try to import scipy
+    py::object scipy = py::module_::import("scipy");
+    return scipy.attr("__version__");
+
+
+.. _calling_python_functions:
+
+Calling Python functions
+========================
+
+It is also possible to call Python classes, functions and methods
+via ``operator()``.
+
+.. code-block:: cpp
+
+    // Construct a Python object of class Decimal
+    py::object pi = Decimal("3.14159");
+
+.. code-block:: cpp
+
+    // Use Python to make our directories
+    py::object os = py::module_::import("os");
+    py::object makedirs = os.attr("makedirs");
+    makedirs("/tmp/path/to/somewhere");
+
+One can convert the result obtained from Python to a pure C++ version
+if a ``py::class_`` or type conversion is defined.
+
+.. code-block:: cpp
+
+    py::function f = <...>;
+    py::object result_py = f(1234, "hello", some_instance);
+    MyClass &result = result_py.cast<MyClass>();
+
+.. _calling_python_methods:
+
+Calling Python methods
+========================
+
+To call an object's method, one can again use ``.attr`` to obtain access to the
+Python method.
+
+.. code-block:: cpp
+
+    // Calculate e^π in decimal
+    py::object exp_pi = pi.attr("exp")();
+    py::print(py::str(exp_pi));
+
+In the example above ``pi.attr("exp")`` is a *bound method*: it will always call
+the method for that same instance of the class. Alternately one can create an
+*unbound method* via the Python class (instead of instance) and pass the ``self``
+object explicitly, followed by other arguments.
+
+.. code-block:: cpp
+
+    py::object decimal_exp = Decimal.attr("exp");
+
+    // Compute the e^n for n=0..4
+    for (int n = 0; n < 5; n++) {
+        py::print(decimal_exp(Decimal(n));
+    }
+
+Keyword arguments
+=================
+
+Keyword arguments are also supported. In Python, there is the usual call syntax:
+
+.. code-block:: python
+
+    def f(number, say, to):
+        ...  # function code
+
+    f(1234, say="hello", to=some_instance)  # keyword call in Python
+
+In C++, the same call can be made using:
+
+.. code-block:: cpp
+
+    using namespace pybind11::literals; // to bring in the `_a` literal
+    f(1234, "say"_a="hello", "to"_a=some_instance); // keyword call in C++
+
+Unpacking arguments
+===================
+
+Unpacking of ``*args`` and ``**kwargs`` is also possible and can be mixed with
+other arguments:
+
+.. code-block:: cpp
+
+    // * unpacking
+    py::tuple args = py::make_tuple(1234, "hello", some_instance);
+    f(*args);
+
+    // ** unpacking
+    py::dict kwargs = py::dict("number"_a=1234, "say"_a="hello", "to"_a=some_instance);
+    f(**kwargs);
+
+    // mixed keywords, * and ** unpacking
+    py::tuple args = py::make_tuple(1234);
+    py::dict kwargs = py::dict("to"_a=some_instance);
+    f(*args, "say"_a="hello", **kwargs);
+
+Generalized unpacking according to PEP448_ is also supported:
+
+.. code-block:: cpp
+
+    py::dict kwargs1 = py::dict("number"_a=1234);
+    py::dict kwargs2 = py::dict("to"_a=some_instance);
+    f(**kwargs1, "say"_a="hello", **kwargs2);
+
+.. seealso::
+
+    The file :file:`tests/test_pytypes.cpp` contains a complete
+    example that demonstrates passing native Python types in more detail. The
+    file :file:`tests/test_callbacks.cpp` presents a few examples of calling
+    Python functions from C++, including keywords arguments and unpacking.
+
+.. _PEP448: https://www.python.org/dev/peps/pep-0448/
+
+.. _implicit_casting:
+
+Implicit casting
+================
+
+When using the C++ interface for Python types, or calling Python functions,
+objects of type :class:`object` are returned. It is possible to invoke implicit
+conversions to subclasses like :class:`dict`. The same holds for the proxy objects
+returned by ``operator[]`` or ``obj.attr()``.
+Casting to subtypes improves code readability and allows values to be passed to
+C++ functions that require a specific subtype rather than a generic :class:`object`.
+
+.. code-block:: cpp
+
+    #include <pybind11/numpy.h>
+    using namespace pybind11::literals;
+
+    py::module_ os = py::module_::import("os");
+    py::module_ path = py::module_::import("os.path");  // like 'import os.path as path'
+    py::module_ np = py::module_::import("numpy");  // like 'import numpy as np'
+
+    py::str curdir_abs = path.attr("abspath")(path.attr("curdir"));
+    py::print(py::str("Current directory: ") + curdir_abs);
+    py::dict environ = os.attr("environ");
+    py::print(environ["HOME"]);
+    py::array_t<float> arr = np.attr("ones")(3, "dtype"_a="float32");
+    py::print(py::repr(arr + py::int_(1)));
+
+These implicit conversions are available for subclasses of :class:`object`; there
+is no need to call ``obj.cast()`` explicitly as for custom classes, see
+:ref:`casting_back_and_forth`.
+
+.. note::
+    If a trivial conversion via move constructor is not possible, both implicit and
+    explicit casting (calling ``obj.cast()``) will attempt a "rich" conversion.
+    For instance, ``py::list env = os.attr("environ");`` will succeed and is
+    equivalent to the Python code ``env = list(os.environ)`` that produces a
+    list of the dict keys.
+
+..  TODO: Adapt text once PR #2349 has landed
+
+Handling exceptions
+===================
+
+Python exceptions from wrapper classes will be thrown as a ``py::error_already_set``.
+See :ref:`Handling exceptions from Python in C++
+<handling_python_exceptions_cpp>` for more information on handling exceptions
+raised when calling C++ wrapper classes.
+
+.. _pytypes_gotchas:
+
+Gotchas
+=======
+
+Default-Constructed Wrappers
+----------------------------
+
+When a wrapper type is default-constructed, it is **not** a valid Python object (i.e. it is not ``py::none()``). It is simply the same as
+``PyObject*`` null pointer. To check for this, use
+``static_cast<bool>(my_wrapper)``.
+
+Assigning py::none() to wrappers
+--------------------------------
+
+You may be tempted to use types like ``py::str`` and ``py::dict`` in C++
+signatures (either pure C++, or in bound signatures), and assign them default
+values of ``py::none()``. However, in a best case scenario, it will fail fast
+because ``None`` is not convertible to that type (e.g. ``py::dict``), or in a
+worse case scenario, it will silently work but corrupt the types you want to
+work with (e.g. ``py::str(py::none())`` will yield ``"None"`` in Python).
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/utilities.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/utilities.rst
new file mode 100644
index 0000000..c15051f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/pycpp/utilities.rst
@@ -0,0 +1,144 @@
+Utilities
+#########
+
+Using Python's print function in C++
+====================================
+
+The usual way to write output in C++ is using ``std::cout`` while in Python one
+would use ``print``. Since these methods use different buffers, mixing them can
+lead to output order issues. To resolve this, pybind11 modules can use the
+:func:`py::print` function which writes to Python's ``sys.stdout`` for consistency.
+
+Python's ``print`` function is replicated in the C++ API including optional
+keyword arguments ``sep``, ``end``, ``file``, ``flush``. Everything works as
+expected in Python:
+
+.. code-block:: cpp
+
+    py::print(1, 2.0, "three"); // 1 2.0 three
+    py::print(1, 2.0, "three", "sep"_a="-"); // 1-2.0-three
+
+    auto args = py::make_tuple("unpacked", true);
+    py::print("->", *args, "end"_a="<-"); // -> unpacked True <-
+
+.. _ostream_redirect:
+
+Capturing standard output from ostream
+======================================
+
+Often, a library will use the streams ``std::cout`` and ``std::cerr`` to print,
+but this does not play well with Python's standard ``sys.stdout`` and ``sys.stderr``
+redirection. Replacing a library's printing with `py::print <print>` may not
+be feasible. This can be fixed using a guard around the library function that
+redirects output to the corresponding Python streams:
+
+.. code-block:: cpp
+
+    #include <pybind11/iostream.h>
+
+    ...
+
+    // Add a scoped redirect for your noisy code
+    m.def("noisy_func", []() {
+        py::scoped_ostream_redirect stream(
+            std::cout,                               // std::ostream&
+            py::module_::import("sys").attr("stdout") // Python output
+        );
+        call_noisy_func();
+    });
+
+This method respects flushes on the output streams and will flush if needed
+when the scoped guard is destroyed. This allows the output to be redirected in
+real time, such as to a Jupyter notebook. The two arguments, the C++ stream and
+the Python output, are optional, and default to standard output if not given. An
+extra type, `py::scoped_estream_redirect <scoped_estream_redirect>`, is identical
+except for defaulting to ``std::cerr`` and ``sys.stderr``; this can be useful with
+`py::call_guard`, which allows multiple items, but uses the default constructor:
+
+.. code-block:: py
+
+    // Alternative: Call single function using call guard
+    m.def("noisy_func", &call_noisy_function,
+          py::call_guard<py::scoped_ostream_redirect,
+                         py::scoped_estream_redirect>());
+
+The redirection can also be done in Python with the addition of a context
+manager, using the `py::add_ostream_redirect() <add_ostream_redirect>` function:
+
+.. code-block:: cpp
+
+    py::add_ostream_redirect(m, "ostream_redirect");
+
+The name in Python defaults to ``ostream_redirect`` if no name is passed.  This
+creates the following context manager in Python:
+
+.. code-block:: python
+
+    with ostream_redirect(stdout=True, stderr=True):
+        noisy_function()
+
+It defaults to redirecting both streams, though you can use the keyword
+arguments to disable one of the streams if needed.
+
+.. note::
+
+    The above methods will not redirect C-level output to file descriptors, such
+    as ``fprintf``. For those cases, you'll need to redirect the file
+    descriptors either directly in C or with Python's ``os.dup2`` function
+    in an operating-system dependent way.
+
+.. _eval:
+
+Evaluating Python expressions from strings and files
+====================================================
+
+pybind11 provides the `eval`, `exec` and `eval_file` functions to evaluate
+Python expressions and statements. The following example illustrates how they
+can be used.
+
+.. code-block:: cpp
+
+    // At beginning of file
+    #include <pybind11/eval.h>
+
+    ...
+
+    // Evaluate in scope of main module
+    py::object scope = py::module_::import("__main__").attr("__dict__");
+
+    // Evaluate an isolated expression
+    int result = py::eval("my_variable + 10", scope).cast<int>();
+
+    // Evaluate a sequence of statements
+    py::exec(
+        "print('Hello')\n"
+        "print('world!');",
+        scope);
+
+    // Evaluate the statements in an separate Python file on disk
+    py::eval_file("script.py", scope);
+
+C++11 raw string literals are also supported and quite handy for this purpose.
+The only requirement is that the first statement must be on a new line following
+the raw string delimiter ``R"(``, ensuring all lines have common leading indent:
+
+.. code-block:: cpp
+
+    py::exec(R"(
+        x = get_answer()
+        if x == 42:
+            print('Hello World!')
+        else:
+            print('Bye!')
+        )", scope
+    );
+
+.. note::
+
+    `eval` and `eval_file` accept a template parameter that describes how the
+    string/file should be interpreted. Possible choices include ``eval_expr``
+    (isolated expression), ``eval_single_statement`` (a single statement, return
+    value is always ``none``), and ``eval_statements`` (sequence of statements,
+    return value is always ``none``). `eval` defaults to  ``eval_expr``,
+    `eval_file` defaults to ``eval_statements`` and `exec` is just a shortcut
+    for ``eval<eval_statements>``.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/smart_ptrs.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/smart_ptrs.rst
new file mode 100644
index 0000000..da57748
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/advanced/smart_ptrs.rst
@@ -0,0 +1,173 @@
+Smart pointers
+##############
+
+std::unique_ptr
+===============
+
+Given a class ``Example`` with Python bindings, it's possible to return
+instances wrapped in C++11 unique pointers, like so
+
+.. code-block:: cpp
+
+    std::unique_ptr<Example> create_example() { return std::unique_ptr<Example>(new Example()); }
+
+.. code-block:: cpp
+
+    m.def("create_example", &create_example);
+
+In other words, there is nothing special that needs to be done. While returning
+unique pointers in this way is allowed, it is *illegal* to use them as function
+arguments. For instance, the following function signature cannot be processed
+by pybind11.
+
+.. code-block:: cpp
+
+    void do_something_with_example(std::unique_ptr<Example> ex) { ... }
+
+The above signature would imply that Python needs to give up ownership of an
+object that is passed to this function, which is generally not possible (for
+instance, the object might be referenced elsewhere).
+
+std::shared_ptr
+===============
+
+The binding generator for classes, :class:`class_`, can be passed a template
+type that denotes a special *holder* type that is used to manage references to
+the object.  If no such holder type template argument is given, the default for
+a type named ``Type`` is ``std::unique_ptr<Type>``, which means that the object
+is deallocated when Python's reference count goes to zero.
+
+It is possible to switch to other types of reference counting wrappers or smart
+pointers, which is useful in codebases that rely on them. For instance, the
+following snippet causes ``std::shared_ptr`` to be used instead.
+
+.. code-block:: cpp
+
+    py::class_<Example, std::shared_ptr<Example> /* <- holder type */> obj(m, "Example");
+
+Note that any particular class can only be associated with a single holder type.
+
+One potential stumbling block when using holder types is that they need to be
+applied consistently. Can you guess what's broken about the following binding
+code?
+
+.. code-block:: cpp
+
+    class Child { };
+
+    class Parent {
+    public:
+       Parent() : child(std::make_shared<Child>()) { }
+       Child *get_child() { return child.get(); }  /* Hint: ** DON'T DO THIS ** */
+    private:
+        std::shared_ptr<Child> child;
+    };
+
+    PYBIND11_MODULE(example, m) {
+        py::class_<Child, std::shared_ptr<Child>>(m, "Child");
+
+        py::class_<Parent, std::shared_ptr<Parent>>(m, "Parent")
+           .def(py::init<>())
+           .def("get_child", &Parent::get_child);
+    }
+
+The following Python code will cause undefined behavior (and likely a
+segmentation fault).
+
+.. code-block:: python
+
+   from example import Parent
+   print(Parent().get_child())
+
+The problem is that ``Parent::get_child()`` returns a pointer to an instance of
+``Child``, but the fact that this instance is already managed by
+``std::shared_ptr<...>`` is lost when passing raw pointers. In this case,
+pybind11 will create a second independent ``std::shared_ptr<...>`` that also
+claims ownership of the pointer. In the end, the object will be freed **twice**
+since these shared pointers have no way of knowing about each other.
+
+There are two ways to resolve this issue:
+
+1. For types that are managed by a smart pointer class, never use raw pointers
+   in function arguments or return values. In other words: always consistently
+   wrap pointers into their designated holder types (such as
+   ``std::shared_ptr<...>``). In this case, the signature of ``get_child()``
+   should be modified as follows:
+
+.. code-block:: cpp
+
+    std::shared_ptr<Child> get_child() { return child; }
+
+2. Adjust the definition of ``Child`` by specifying
+   ``std::enable_shared_from_this<T>`` (see cppreference_ for details) as a
+   base class. This adds a small bit of information to ``Child`` that allows
+   pybind11 to realize that there is already an existing
+   ``std::shared_ptr<...>`` and communicate with it. In this case, the
+   declaration of ``Child`` should look as follows:
+
+.. _cppreference: http://en.cppreference.com/w/cpp/memory/enable_shared_from_this
+
+.. code-block:: cpp
+
+    class Child : public std::enable_shared_from_this<Child> { };
+
+.. _smart_pointers:
+
+Custom smart pointers
+=====================
+
+pybind11 supports ``std::unique_ptr`` and ``std::shared_ptr`` right out of the
+box. For any other custom smart pointer, transparent conversions can be enabled
+using a macro invocation similar to the following. It must be declared at the
+top namespace level before any binding code:
+
+.. code-block:: cpp
+
+    PYBIND11_DECLARE_HOLDER_TYPE(T, SmartPtr<T>);
+
+The first argument of :func:`PYBIND11_DECLARE_HOLDER_TYPE` should be a
+placeholder name that is used as a template parameter of the second argument.
+Thus, feel free to use any identifier, but use it consistently on both sides;
+also, don't use the name of a type that already exists in your codebase.
+
+The macro also accepts a third optional boolean parameter that is set to false
+by default. Specify
+
+.. code-block:: cpp
+
+    PYBIND11_DECLARE_HOLDER_TYPE(T, SmartPtr<T>, true);
+
+if ``SmartPtr<T>`` can always be initialized from a ``T*`` pointer without the
+risk of inconsistencies (such as multiple independent ``SmartPtr`` instances
+believing that they are the sole owner of the ``T*`` pointer). A common
+situation where ``true`` should be passed is when the ``T`` instances use
+*intrusive* reference counting.
+
+Please take a look at the :ref:`macro_notes` before using this feature.
+
+By default, pybind11 assumes that your custom smart pointer has a standard
+interface, i.e. provides a ``.get()`` member function to access the underlying
+raw pointer. If this is not the case, pybind11's ``holder_helper`` must be
+specialized:
+
+.. code-block:: cpp
+
+    // Always needed for custom holder types
+    PYBIND11_DECLARE_HOLDER_TYPE(T, SmartPtr<T>);
+
+    // Only needed if the type's `.get()` goes by another name
+    namespace pybind11 { namespace detail {
+        template <typename T>
+        struct holder_helper<SmartPtr<T>> { // <-- specialization
+            static const T *get(const SmartPtr<T> &p) { return p.getPointer(); }
+        };
+    }}
+
+The above specialization informs pybind11 that the custom ``SmartPtr`` class
+provides ``.get()`` functionality via ``.getPointer()``.
+
+.. seealso::
+
+    The file :file:`tests/test_smart_ptr.cpp` contains a complete example
+    that demonstrates how to work with custom reference-counting holder types
+    in more detail.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/basics.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/basics.rst
new file mode 100644
index 0000000..0681d86
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/basics.rst
@@ -0,0 +1,301 @@
+.. _basics:
+
+First steps
+###########
+
+This sections demonstrates the basic features of pybind11. Before getting
+started, make sure that development environment is set up to compile the
+included set of test cases.
+
+
+Compiling the test cases
+========================
+
+Linux/macOS
+-----------
+
+On Linux  you'll need to install the **python-dev** or **python3-dev** packages as
+well as **cmake**. On macOS, the included python version works out of the box,
+but **cmake** must still be installed.
+
+After installing the prerequisites, run
+
+.. code-block:: bash
+
+   mkdir build
+   cd build
+   cmake ..
+   make check -j 4
+
+The last line will both compile and run the tests.
+
+Windows
+-------
+
+On Windows, only **Visual Studio 2015** and newer are supported since pybind11 relies
+on various C++11 language features that break older versions of Visual Studio.
+
+.. Note::
+
+    To use the C++17 in Visual Studio 2017 (MSVC 14.1), pybind11 requires the flag
+    ``/permissive-`` to be passed to the compiler `to enforce standard conformance`_. When
+    building with Visual Studio 2019, this is not strictly necessary, but still adviced.
+
+..  _`to enforce standard conformance`: https://docs.microsoft.com/en-us/cpp/build/reference/permissive-standards-conformance?view=vs-2017
+
+To compile and run the tests:
+
+.. code-block:: batch
+
+   mkdir build
+   cd build
+   cmake ..
+   cmake --build . --config Release --target check
+
+This will create a Visual Studio project, compile and run the target, all from the
+command line.
+
+.. Note::
+
+    If all tests fail, make sure that the Python binary and the testcases are compiled
+    for the same processor type and bitness (i.e. either **i386** or **x86_64**). You
+    can specify **x86_64** as the target architecture for the generated Visual Studio
+    project using ``cmake -A x64 ..``.
+
+.. seealso::
+
+    Advanced users who are already familiar with Boost.Python may want to skip
+    the tutorial and look at the test cases in the :file:`tests` directory,
+    which exercise all features of pybind11.
+
+Header and namespace conventions
+================================
+
+For brevity, all code examples assume that the following two lines are present:
+
+.. code-block:: cpp
+
+    #include <pybind11/pybind11.h>
+
+    namespace py = pybind11;
+
+Some features may require additional headers, but those will be specified as needed.
+
+.. _simple_example:
+
+Creating bindings for a simple function
+=======================================
+
+Let's start by creating Python bindings for an extremely simple function, which
+adds two numbers and returns their result:
+
+.. code-block:: cpp
+
+    int add(int i, int j) {
+        return i + j;
+    }
+
+For simplicity [#f1]_, we'll put both this function and the binding code into
+a file named :file:`example.cpp` with the following contents:
+
+.. code-block:: cpp
+
+    #include <pybind11/pybind11.h>
+
+    int add(int i, int j) {
+        return i + j;
+    }
+
+    PYBIND11_MODULE(example, m) {
+        m.doc() = "pybind11 example plugin"; // optional module docstring
+
+        m.def("add", &add, "A function which adds two numbers");
+    }
+
+.. [#f1] In practice, implementation and binding code will generally be located
+         in separate files.
+
+The :func:`PYBIND11_MODULE` macro creates a function that will be called when an
+``import`` statement is issued from within Python. The module name (``example``)
+is given as the first macro argument (it should not be in quotes). The second
+argument (``m``) defines a variable of type :class:`py::module_ <module>` which
+is the main interface for creating bindings. The method :func:`module_::def`
+generates binding code that exposes the ``add()`` function to Python.
+
+.. note::
+
+    Notice how little code was needed to expose our function to Python: all
+    details regarding the function's parameters and return value were
+    automatically inferred using template metaprogramming. This overall
+    approach and the used syntax are borrowed from Boost.Python, though the
+    underlying implementation is very different.
+
+pybind11 is a header-only library, hence it is not necessary to link against
+any special libraries and there are no intermediate (magic) translation steps.
+On Linux, the above example can be compiled using the following command:
+
+.. code-block:: bash
+
+    $ c++ -O3 -Wall -shared -std=c++11 -fPIC `python3 -m pybind11 --includes` example.cpp -o example`python3-config --extension-suffix`
+
+For more details on the required compiler flags on Linux and macOS, see
+:ref:`building_manually`. For complete cross-platform compilation instructions,
+refer to the :ref:`compiling` page.
+
+The `python_example`_ and `cmake_example`_ repositories are also a good place
+to start. They are both complete project examples with cross-platform build
+systems. The only difference between the two is that `python_example`_ uses
+Python's ``setuptools`` to build the module, while `cmake_example`_ uses CMake
+(which may be preferable for existing C++ projects).
+
+.. _python_example: https://github.com/pybind/python_example
+.. _cmake_example: https://github.com/pybind/cmake_example
+
+Building the above C++ code will produce a binary module file that can be
+imported to Python. Assuming that the compiled module is located in the
+current directory, the following interactive Python session shows how to
+load and execute the example:
+
+.. code-block:: pycon
+
+    $ python
+    Python 2.7.10 (default, Aug 22 2015, 20:33:39)
+    [GCC 4.2.1 Compatible Apple LLVM 7.0.0 (clang-700.0.59.1)] on darwin
+    Type "help", "copyright", "credits" or "license" for more information.
+    >>> import example
+    >>> example.add(1, 2)
+    3L
+    >>>
+
+.. _keyword_args:
+
+Keyword arguments
+=================
+
+With a simple code modification, it is possible to inform Python about the
+names of the arguments ("i" and "j" in this case).
+
+.. code-block:: cpp
+
+    m.def("add", &add, "A function which adds two numbers",
+          py::arg("i"), py::arg("j"));
+
+:class:`arg` is one of several special tag classes which can be used to pass
+metadata into :func:`module_::def`. With this modified binding code, we can now
+call the function using keyword arguments, which is a more readable alternative
+particularly for functions taking many parameters:
+
+.. code-block:: pycon
+
+    >>> import example
+    >>> example.add(i=1, j=2)
+    3L
+
+The keyword names also appear in the function signatures within the documentation.
+
+.. code-block:: pycon
+
+    >>> help(example)
+
+    ....
+
+    FUNCTIONS
+        add(...)
+            Signature : (i: int, j: int) -> int
+
+            A function which adds two numbers
+
+A shorter notation for named arguments is also available:
+
+.. code-block:: cpp
+
+    // regular notation
+    m.def("add1", &add, py::arg("i"), py::arg("j"));
+    // shorthand
+    using namespace pybind11::literals;
+    m.def("add2", &add, "i"_a, "j"_a);
+
+The :var:`_a` suffix forms a C++11 literal which is equivalent to :class:`arg`.
+Note that the literal operator must first be made visible with the directive
+``using namespace pybind11::literals``. This does not bring in anything else
+from the ``pybind11`` namespace except for literals.
+
+.. _default_args:
+
+Default arguments
+=================
+
+Suppose now that the function to be bound has default arguments, e.g.:
+
+.. code-block:: cpp
+
+    int add(int i = 1, int j = 2) {
+        return i + j;
+    }
+
+Unfortunately, pybind11 cannot automatically extract these parameters, since they
+are not part of the function's type information. However, they are simple to specify
+using an extension of :class:`arg`:
+
+.. code-block:: cpp
+
+    m.def("add", &add, "A function which adds two numbers",
+          py::arg("i") = 1, py::arg("j") = 2);
+
+The default values also appear within the documentation.
+
+.. code-block:: pycon
+
+    >>> help(example)
+
+    ....
+
+    FUNCTIONS
+        add(...)
+            Signature : (i: int = 1, j: int = 2) -> int
+
+            A function which adds two numbers
+
+The shorthand notation is also available for default arguments:
+
+.. code-block:: cpp
+
+    // regular notation
+    m.def("add1", &add, py::arg("i") = 1, py::arg("j") = 2);
+    // shorthand
+    m.def("add2", &add, "i"_a=1, "j"_a=2);
+
+Exporting variables
+===================
+
+To expose a value from C++, use the ``attr`` function to register it in a
+module as shown below. Built-in types and general objects (more on that later)
+are automatically converted when assigned as attributes, and can be explicitly
+converted using the function ``py::cast``.
+
+.. code-block:: cpp
+
+    PYBIND11_MODULE(example, m) {
+        m.attr("the_answer") = 42;
+        py::object world = py::cast("World");
+        m.attr("what") = world;
+    }
+
+These are then accessible from Python:
+
+.. code-block:: pycon
+
+    >>> import example
+    >>> example.the_answer
+    42
+    >>> example.what
+    'World'
+
+.. _supported_types:
+
+Supported data types
+====================
+
+A large number of data types are supported out of the box and can be used
+seamlessly as functions arguments, return values or with ``py::cast`` in general.
+For a full overview, see the :doc:`advanced/cast/index` section.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.py
new file mode 100644
index 0000000..0234772
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.py
@@ -0,0 +1,89 @@
+# -*- coding: utf-8 -*-
+import random
+import os
+import time
+import datetime as dt
+
+nfns = 4  # Functions per class
+nargs = 4  # Arguments per function
+
+
+def generate_dummy_code_pybind11(nclasses=10):
+    decl = ""
+    bindings = ""
+
+    for cl in range(nclasses):
+        decl += "class cl%03i;\n" % cl
+    decl += '\n'
+
+    for cl in range(nclasses):
+        decl += "class cl%03i {\n" % cl
+        decl += "public:\n"
+        bindings += '    py::class_<cl%03i>(m, "cl%03i")\n' % (cl, cl)
+        for fn in range(nfns):
+            ret = random.randint(0, nclasses - 1)
+            params  = [random.randint(0, nclasses - 1) for i in range(nargs)]
+            decl += "    cl%03i *fn_%03i(" % (ret, fn)
+            decl += ", ".join("cl%03i *" % p for p in params)
+            decl += ");\n"
+            bindings += '        .def("fn_%03i", &cl%03i::fn_%03i)\n' % \
+                (fn, cl, fn)
+        decl += "};\n\n"
+        bindings += '        ;\n'
+
+    result = "#include <pybind11/pybind11.h>\n\n"
+    result += "namespace py = pybind11;\n\n"
+    result += decl + '\n'
+    result += "PYBIND11_MODULE(example, m) {\n"
+    result += bindings
+    result += "}"
+    return result
+
+
+def generate_dummy_code_boost(nclasses=10):
+    decl = ""
+    bindings = ""
+
+    for cl in range(nclasses):
+        decl += "class cl%03i;\n" % cl
+    decl += '\n'
+
+    for cl in range(nclasses):
+        decl += "class cl%03i {\n" % cl
+        decl += "public:\n"
+        bindings += '    py::class_<cl%03i>("cl%03i")\n' % (cl, cl)
+        for fn in range(nfns):
+            ret = random.randint(0, nclasses - 1)
+            params  = [random.randint(0, nclasses - 1) for i in range(nargs)]
+            decl += "    cl%03i *fn_%03i(" % (ret, fn)
+            decl += ", ".join("cl%03i *" % p for p in params)
+            decl += ");\n"
+            bindings += '        .def("fn_%03i", &cl%03i::fn_%03i, py::return_value_policy<py::manage_new_object>())\n' % \
+                (fn, cl, fn)
+        decl += "};\n\n"
+        bindings += '        ;\n'
+
+    result = "#include <boost/python.hpp>\n\n"
+    result += "namespace py = boost::python;\n\n"
+    result += decl + '\n'
+    result += "BOOST_PYTHON_MODULE(example) {\n"
+    result += bindings
+    result += "}"
+    return result
+
+
+for codegen in [generate_dummy_code_pybind11, generate_dummy_code_boost]:
+    print ("{")
+    for i in range(0, 10):
+        nclasses = 2 ** i
+        with open("test.cpp", "w") as f:
+            f.write(codegen(nclasses))
+        n1 = dt.datetime.now()
+        os.system("g++ -Os -shared -rdynamic -undefined dynamic_lookup "
+            "-fvisibility=hidden -std=c++14 test.cpp -I include "
+            "-I /System/Library/Frameworks/Python.framework/Headers -o test.so")
+        n2 = dt.datetime.now()
+        elapsed = (n2 - n1).total_seconds()
+        size = os.stat('test.so').st_size
+        print("   {%i, %f, %i}," % (nclasses * nfns, elapsed, size))
+    print ("}")
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.rst
new file mode 100644
index 0000000..02c2ccd
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/benchmark.rst
@@ -0,0 +1,95 @@
+Benchmark
+=========
+
+The following is the result of a synthetic benchmark comparing both compilation
+time and module size of pybind11 against Boost.Python. A detailed report about a
+Boost.Python to pybind11 conversion of a real project is available here: [#f1]_.
+
+.. [#f1] http://graylab.jhu.edu/RosettaCon2016/PyRosetta-4.pdf
+
+Setup
+-----
+
+A python script (see the ``docs/benchmark.py`` file) was used to generate a set
+of files with dummy classes whose count increases for each successive benchmark
+(between 1 and 2048 classes in powers of two). Each class has four methods with
+a randomly generated signature with a return value and four arguments. (There
+was no particular reason for this setup other than the desire to generate many
+unique function signatures whose count could be controlled in a simple way.)
+
+Here is an example of the binding code for one class:
+
+.. code-block:: cpp
+
+    ...
+    class cl034 {
+    public:
+        cl279 *fn_000(cl084 *, cl057 *, cl065 *, cl042 *);
+        cl025 *fn_001(cl098 *, cl262 *, cl414 *, cl121 *);
+        cl085 *fn_002(cl445 *, cl297 *, cl145 *, cl421 *);
+        cl470 *fn_003(cl200 *, cl323 *, cl332 *, cl492 *);
+    };
+    ...
+
+    PYBIND11_MODULE(example, m) {
+        ...
+        py::class_<cl034>(m, "cl034")
+            .def("fn_000", &cl034::fn_000)
+            .def("fn_001", &cl034::fn_001)
+            .def("fn_002", &cl034::fn_002)
+            .def("fn_003", &cl034::fn_003)
+        ...
+    }
+
+The Boost.Python version looks almost identical except that a return value
+policy had to be specified as an argument to ``def()``. For both libraries,
+compilation was done with
+
+.. code-block:: bash
+
+    Apple LLVM version 7.0.2 (clang-700.1.81)
+
+and the following compilation flags
+
+.. code-block:: bash
+
+    g++ -Os -shared -rdynamic -undefined dynamic_lookup -fvisibility=hidden -std=c++14
+
+Compilation time
+----------------
+
+The following log-log plot shows how the compilation time grows for an
+increasing number of class and function declarations. pybind11 includes many
+fewer headers, which initially leads to shorter compilation times, but the
+performance is ultimately fairly similar (pybind11 is 19.8 seconds faster for
+the largest largest file with 2048 classes and a total of 8192 methods -- a
+modest **1.2x** speedup relative to Boost.Python, which required 116.35
+seconds).
+
+.. only:: not latex
+
+    .. image:: pybind11_vs_boost_python1.svg
+
+.. only:: latex
+
+    .. image:: pybind11_vs_boost_python1.png
+
+Module size
+-----------
+
+Differences between the two libraries become much more pronounced when
+considering the file size of the generated Python plugin: for the largest file,
+the binary generated by Boost.Python required 16.8 MiB, which was **2.17
+times** / **9.1 megabytes** larger than the output generated by pybind11. For
+very small inputs, Boost.Python has an edge in the plot below -- however, note
+that it stores many definitions in an external library, whose size was not
+included here, hence the comparison is slightly shifted in Boost.Python's
+favor.
+
+.. only:: not latex
+
+    .. image:: pybind11_vs_boost_python2.svg
+
+.. only:: latex
+
+    .. image:: pybind11_vs_boost_python2.png
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/changelog.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/changelog.rst
new file mode 100644
index 0000000..455d289
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/changelog.rst
@@ -0,0 +1,1497 @@
+.. _changelog:
+
+Changelog
+#########
+
+Starting with version 1.8.0, pybind11 releases use a `semantic versioning
+<http://semver.org>`_ policy.
+
+v2.6.0 (IN PROGRESS)
+--------------------
+
+See :ref:`upgrade-guide-2.6` for help upgrading to the new version.
+
+New features:
+
+* Keyword-only arguments supported in Python 2 or 3 with ``py::kw_only()``.
+  `#2100 <https://github.com/pybind/pybind11/pull/2100>`_
+
+* Positional-only arguments supported in Python 2 or 3 with ``py::pos_only()``.
+  `#2459 <https://github.com/pybind/pybind11/pull/2459>`_
+
+* ``py::is_final()`` class modifier to block subclassing (CPython only).
+  `#2151 <https://github.com/pybind/pybind11/pull/2151>`_
+
+* Added ``py::prepend()``, allowing a function to be placed at the beginning of
+  the overload chain.
+  `#1131 <https://github.com/pybind/pybind11/pull/1131>`_
+
+* Access to the type object now provided with ``py::type::of<T>()`` and
+  ``py::type::of(h)``.
+  `#2364 <https://github.com/pybind/pybind11/pull/2364>`_
+
+* Perfect forwarding support for methods.
+  `#2048 <https://github.com/pybind/pybind11/pull/2048>`_
+
+* Added ``py::error_already_set::discard_as_unraisable()``.
+  `#2372 <https://github.com/pybind/pybind11/pull/2372>`_
+
+* ``py::hash`` is now public.
+  `#2217 <https://github.com/pybind/pybind11/pull/2217>`_
+
+* ``py::class_<union_type>`` is now supported. Note that writing to one data
+  member of the union and reading another (type punning) is UB in C++. Thus
+  pybind11-bound enums should never be used for such conversions.
+  `#2320 <https://github.com/pybind/pybind11/pull/2320>`_.
+
+* Classes now check local scope when registering members, allowing a subclass
+  to have a member with the same name as a parent (such as an enum).
+  `#2335 <https://github.com/pybind/pybind11/pull/2335>`_
+
+Assisting in writing more correct code:
+
+* Error now thrown when ``__init__`` is forgotten on subclasses.
+  `#2152 <https://github.com/pybind/pybind11/pull/2152>`_
+
+* Throw error if conversion to a pybind11 type if the Python object isn't a
+  valid instance of that type, such as ``py::bytes(o)`` when ``py::object o``
+  isn't a bytes instance.
+  `#2349 <https://github.com/pybind/pybind11/pull/2349>`_
+
+* Throw if conversion to ``str`` fails.
+  `#2477 <https://github.com/pybind/pybind11/pull/2477>`_
+
+
+API changes:
+
+* ``py::module`` was renamed ``py::module_`` to avoid issues with C++20 when
+  used unqualified, but an alias ``py::module`` is provided for backward
+  compatibility.
+  `#2489 <https://github.com/pybind/pybind11/pull/2489>`_
+
+* Public constructors for ``py::module_`` have been deprecated; please use
+  ``pybind11::module_::create_extension_module`` if you were using the public
+  constructor (fairly rare after ``PYBIND11_MODULE`` was introduced).
+  **Provisional in 2.6.0rc1.**
+  `#2552 <https://github.com/pybind/pybind11/pull/2552>`_
+
+* ``PYBIND11_OVERLOAD*`` macros and ``get_overload`` function replaced by
+  correctly-named ``PYBIND11_OVERRIDE*`` and ``get_override``, fixing
+  inconsistencies in the presence of a closing ``;`` in these macros.
+  ``get_type_overload`` is deprecated.
+  `#2325 <https://github.com/pybind/pybind11/pull/2325>`_
+
+Packaging / building improvements:
+
+* The Python package was reworked to be more powerful and useful.
+  `#2433 <https://github.com/pybind/pybind11/pull/2433>`_
+
+  * :ref:`build-setuptools` is easier thanks to a new
+    ``pybind11.setup_helpers`` module, which provides utilities to use
+    setuptools with pybind11. It can be used via PEP 518, ``setup_requires``,
+    or by directly importing or copying ``setup_helpers.py`` into your project.
+
+  * CMake configuration files are now included in the Python package. Use
+    ``pybind11.get_cmake_dir()`` or ``python -m pybind11 --cmakedir`` to get
+    the directory with the CMake configuration files, or include the
+    site-packages location in your ``CMAKE_MODULE_PATH``. Or you can use the
+    new ``pybind11[global]`` extra when you install ``pybind11``, which
+    installs the CMake files and headers into your base environment in the
+    standard location
+
+  * ``pybind11-config`` is another way to write ``python -m pybind11`` if you
+    have your PATH set up.
+
+
+* Minimum CMake required increased to 3.4.
+  `#2338 <https://github.com/pybind/pybind11/pull/2338>`_ and
+  `#2370 <https://github.com/pybind/pybind11/pull/2370>`_
+
+  * Full integration with CMake’s C++ standard system and compile features
+    replaces ``PYBIND11_CPP_STANDARD``.
+
+  * Generated config file is now portable to different Python/compiler/CMake
+    versions.
+
+  * Virtual environments prioritized if ``PYTHON_EXECUTABLE`` is not set
+    (``venv``, ``virtualenv``, and ``conda``) (similar to the new FindPython
+    mode).
+
+  * Other CMake features now natively supported, like
+    ``CMAKE_INTERPROCEDURAL_OPTIMIZATION``, ``set(CMAKE_CXX_VISIBILITY_PRESET
+    hidden)``.
+
+  * ``CUDA`` as a language is now supported.
+
+  * Helper functions ``pybind11_strip``, ``pybind11_extension``,
+    ``pybind11_find_import`` added, see :doc:`cmake/index`.
+
+  * Optional :ref:`find-python-mode` and :ref:`nopython-mode` with CMake.
+    `#2370 <https://github.com/pybind/pybind11/pull/2370>`_
+
+* Uninstall target added.
+  `#2265 <https://github.com/pybind/pybind11/pull/2265>`_ and
+  `#2346 <https://github.com/pybind/pybind11/pull/2346>`_
+
+* ``pybind11_add_module()`` now accepts an optional ``OPT_SIZE`` flag that
+  switches the binding target to size-based optimization if the global build
+  type can not always be fixed to ``MinSizeRel`` (except in debug mode, where
+  optimizations remain disabled).  ``MinSizeRel`` or this flag reduces binary
+  size quite substantially (~25% on some platforms).
+  `#2463 <https://github.com/pybind/pybind11/pull/2463>`_
+
+Smaller or developer focused features:
+
+* Moved ``mkdoc.py`` to a new repo, `pybind11-mkdoc`_. There are no longer
+  submodules in the main repo.
+
+* ``py::memoryview`` segfault fix and update, with new
+  ``py::memoryview::from_memory`` in Python 3, and documentation.
+  `#2223 <https://github.com/pybind/pybind11/pull/2223>`_
+
+* Fix for ``buffer_info`` on Python 2.
+  `#2503 <https://github.com/pybind/pybind11/pull/2503>`_
+
+* If ``__eq__`` defined but not ``__hash__``, ``__hash__`` is now set to
+  ``None``.
+  `#2291 <https://github.com/pybind/pybind11/pull/2291>`_
+
+* ``py::ellipsis`` now also works on Python 2.
+  `#2360 <https://github.com/pybind/pybind11/pull/2360>`_
+
+* Pointer to ``std::tuple`` & ``std::pair`` supported in cast.
+  `#2334 <https://github.com/pybind/pybind11/pull/2334>`_
+
+* Small fixes in NumPy support. ``py::array`` now uses ``py::ssize_t`` as first
+  argument type.
+  `#2293 <https://github.com/pybind/pybind11/pull/2293>`_
+
+* Added missing signature for ``py::array``.
+  `#2363 <https://github.com/pybind/pybind11/pull/2363>`_
+
+* ``unchecked_mutable_reference`` has access to operator ``()`` and ``[]`` when
+  const.
+  `#2514 <https://github.com/pybind/pybind11/pull/2514>`_
+
+* ``py::vectorize`` is now supported on functions that return void.
+  `#1969 <https://github.com/pybind/pybind11/pull/1969>`_
+
+* ``py::capsule`` supports ``get_pointer`` and ``set_pointer``.
+  `#1131 <https://github.com/pybind/pybind11/pull/1131>`_
+
+* Fix crash when different instances share the same pointer of the same type.
+  `#2252 <https://github.com/pybind/pybind11/pull/2252>`_
+
+* Bugfixes related to more extensive testing, new GitHub Actions CI.
+  `#2321 <https://github.com/pybind/pybind11/pull/2321>`_
+
+* Bug in timezone issue in Eastern hemisphere midnight fixed.
+  `#2438 <https://github.com/pybind/pybind11/pull/2438>`_
+
+* ``std::chrono::time_point`` now works when the resolution is not the same as
+  the system.
+  `#2481 <https://github.com/pybind/pybind11/pull/2481>`_
+
+* Bug fixed where ``py::array_t`` could accept arrays that did not match the
+  requested ordering.
+  `#2484 <https://github.com/pybind/pybind11/pull/2484>`_
+
+* PyPy fixes, PyPy 7.3.x now supported, including PyPy3.
+  `#2146 <https://github.com/pybind/pybind11/pull/2146>`_
+
+* CPython 3.9 fixes.
+  `#2253 <https://github.com/pybind/pybind11/pull/2253>`_
+
+* More C++20 support.
+  `#2489 <https://github.com/pybind/pybind11/pull/2489>`_
+
+* Debug Python interpreter support.
+  `#2025 <https://github.com/pybind/pybind11/pull/2025>`_
+
+* NVCC (CUDA 11) now supported and tested in CI.
+  `#2461 <https://github.com/pybind/pybind11/pull/2461>`_
+
+* NVIDIA PGI compilers now supported and tested in CI.
+  `#2475 <https://github.com/pybind/pybind11/pull/2475>`_
+
+* Extensive style checking in CI, with `pre-commit`_ support. Code
+  modernization, checked by clang-tidy.
+
+* Expanded docs, including new main page, new installing section, and CMake
+  helpers page, along with over a dozen new sections on existing pages.
+
+* In GitHub, new docs for contributing and new issue templates.
+
+.. _pre-commit: https://pre-commit.com
+
+.. _pybind11-mkdoc: https://github.com/pybind/pybind11-mkdoc
+
+v2.5.0 (Mar 31, 2020)
+-----------------------------------------------------
+
+* Use C++17 fold expressions in type casters, if available. This can
+  improve performance during overload resolution when functions have
+  multiple arguments.
+  `#2043 <https://github.com/pybind/pybind11/pull/2043>`_.
+
+* Changed include directory resolution in ``pybind11/__init__.py``
+  and installation in ``setup.py``. This fixes a number of open issues
+  where pybind11 headers could not be found in certain environments.
+  `#1995 <https://github.com/pybind/pybind11/pull/1995>`_.
+
+* C++20 ``char8_t`` and ``u8string`` support. `#2026
+  <https://github.com/pybind/pybind11/pull/2026>`_.
+
+* CMake: search for Python 3.9. `bb9c91
+  <https://github.com/pybind/pybind11/commit/bb9c91>`_.
+
+* Fixes for MSYS-based build environments.
+  `#2087 <https://github.com/pybind/pybind11/pull/2087>`_,
+  `#2053 <https://github.com/pybind/pybind11/pull/2053>`_.
+
+* STL bindings for ``std::vector<...>::clear``. `#2074
+  <https://github.com/pybind/pybind11/pull/2074>`_.
+
+* Read-only flag for ``py::buffer``. `#1466
+  <https://github.com/pybind/pybind11/pull/1466>`_.
+
+* Exception handling during module initialization.
+  `bf2b031 <https://github.com/pybind/pybind11/commit/bf2b031>`_.
+
+* Support linking against a CPython debug build.
+  `#2025 <https://github.com/pybind/pybind11/pull/2025>`_.
+
+* Fixed issues involving the availability and use of aligned ``new`` and
+  ``delete``. `#1988 <https://github.com/pybind/pybind11/pull/1988>`_,
+  `759221 <https://github.com/pybind/pybind11/commit/759221>`_.
+
+* Fixed a resource leak upon interpreter shutdown.
+  `#2020 <https://github.com/pybind/pybind11/pull/2020>`_.
+
+* Fixed error handling in the boolean caster.
+  `#1976 <https://github.com/pybind/pybind11/pull/1976>`_.
+
+v2.4.3 (Oct 15, 2019)
+-----------------------------------------------------
+
+* Adapt pybind11 to a C API convention change in Python 3.8. `#1950
+  <https://github.com/pybind/pybind11/pull/1950>`_.
+
+v2.4.2 (Sep 21, 2019)
+-----------------------------------------------------
+
+* Replaced usage of a C++14 only construct. `#1929
+  <https://github.com/pybind/pybind11/pull/1929>`_.
+
+* Made an ifdef future-proof for Python >= 4. `f3109d
+  <https://github.com/pybind/pybind11/commit/f3109d>`_.
+
+v2.4.1 (Sep 20, 2019)
+-----------------------------------------------------
+
+* Fixed a problem involving implicit conversion from enumerations to integers
+  on Python 3.8. `#1780 <https://github.com/pybind/pybind11/pull/1780>`_.
+
+v2.4.0 (Sep 19, 2019)
+-----------------------------------------------------
+
+* Try harder to keep pybind11-internal data structures separate when there
+  are potential ABI incompatibilities. Fixes crashes that occurred when loading
+  multiple pybind11 extensions that were e.g. compiled by GCC (libstdc++)
+  and Clang (libc++).
+  `#1588 <https://github.com/pybind/pybind11/pull/1588>`_ and
+  `c9f5a <https://github.com/pybind/pybind11/commit/c9f5a>`_.
+
+* Added support for ``__await__``, ``__aiter__``, and ``__anext__`` protocols.
+  `#1842 <https://github.com/pybind/pybind11/pull/1842>`_.
+
+* ``pybind11_add_module()``: don't strip symbols when compiling in
+  ``RelWithDebInfo`` mode. `#1980
+  <https://github.com/pybind/pybind11/pull/1980>`_.
+
+* ``enum_``: Reproduce Python behavior when comparing against invalid values
+  (e.g. ``None``, strings, etc.). Add back support for ``__invert__()``.
+  `#1912 <https://github.com/pybind/pybind11/pull/1912>`_,
+  `#1907 <https://github.com/pybind/pybind11/pull/1907>`_.
+
+* List insertion operation for ``py::list``.
+  Added ``.empty()`` to all collection types.
+  Added ``py::set::contains()`` and ``py::dict::contains()``.
+  `#1887 <https://github.com/pybind/pybind11/pull/1887>`_,
+  `#1884 <https://github.com/pybind/pybind11/pull/1884>`_,
+  `#1888 <https://github.com/pybind/pybind11/pull/1888>`_.
+
+* ``py::details::overload_cast_impl`` is available in C++11 mode, can be used
+  like ``overload_cast`` with an additional set of parantheses.
+  `#1581 <https://github.com/pybind/pybind11/pull/1581>`_.
+
+* Fixed ``get_include()`` on Conda.
+  `#1877 <https://github.com/pybind/pybind11/pull/1877>`_.
+
+* ``stl_bind.h``: negative indexing support.
+  `#1882 <https://github.com/pybind/pybind11/pull/1882>`_.
+
+* Minor CMake fix to add MinGW compatibility.
+  `#1851 <https://github.com/pybind/pybind11/pull/1851>`_.
+
+* GIL-related fixes.
+  `#1836 <https://github.com/pybind/pybind11/pull/1836>`_,
+  `8b90b <https://github.com/pybind/pybind11/commit/8b90b>`_.
+
+* Other very minor/subtle fixes and improvements.
+  `#1329 <https://github.com/pybind/pybind11/pull/1329>`_,
+  `#1910 <https://github.com/pybind/pybind11/pull/1910>`_,
+  `#1863 <https://github.com/pybind/pybind11/pull/1863>`_,
+  `#1847 <https://github.com/pybind/pybind11/pull/1847>`_,
+  `#1890 <https://github.com/pybind/pybind11/pull/1890>`_,
+  `#1860 <https://github.com/pybind/pybind11/pull/1860>`_,
+  `#1848 <https://github.com/pybind/pybind11/pull/1848>`_,
+  `#1821 <https://github.com/pybind/pybind11/pull/1821>`_,
+  `#1837 <https://github.com/pybind/pybind11/pull/1837>`_,
+  `#1833 <https://github.com/pybind/pybind11/pull/1833>`_,
+  `#1748 <https://github.com/pybind/pybind11/pull/1748>`_,
+  `#1852 <https://github.com/pybind/pybind11/pull/1852>`_.
+
+v2.3.0 (June 11, 2019)
+-----------------------------------------------------
+
+* Significantly reduced module binary size (10-20%) when compiled in C++11 mode
+  with GCC/Clang, or in any mode with MSVC. Function signatures are now always
+  precomputed at compile time (this was previously only available in C++14 mode
+  for non-MSVC compilers).
+  `#934 <https://github.com/pybind/pybind11/pull/934>`_.
+
+* Add basic support for tag-based static polymorphism, where classes
+  provide a method to returns the desired type of an instance.
+  `#1326 <https://github.com/pybind/pybind11/pull/1326>`_.
+
+* Python type wrappers (``py::handle``, ``py::object``, etc.)
+  now support map Python's number protocol onto C++ arithmetic
+  operators such as ``operator+``, ``operator/=``, etc.
+  `#1511 <https://github.com/pybind/pybind11/pull/1511>`_.
+
+* A number of improvements related to enumerations:
+
+   1. The ``enum_`` implementation was rewritten from scratch to reduce
+      code bloat. Rather than instantiating a full implementation for each
+      enumeration, most code is now contained in a generic base class.
+      `#1511 <https://github.com/pybind/pybind11/pull/1511>`_.
+
+   2. The ``value()``  method of ``py::enum_`` now accepts an optional
+      docstring that will be shown in the documentation of the associated
+      enumeration. `#1160 <https://github.com/pybind/pybind11/pull/1160>`_.
+
+   3. check for already existing enum value and throw an error if present.
+      `#1453 <https://github.com/pybind/pybind11/pull/1453>`_.
+
+* Support for over-aligned type allocation via C++17's aligned ``new``
+  statement. `#1582 <https://github.com/pybind/pybind11/pull/1582>`_.
+
+* Added ``py::ellipsis()`` method for slicing of multidimensional NumPy arrays
+  `#1502 <https://github.com/pybind/pybind11/pull/1502>`_.
+
+* Numerous Improvements to the ``mkdoc.py`` script for extracting documentation
+  from C++ header files.
+  `#1788 <https://github.com/pybind/pybind11/pull/1788>`_.
+
+* ``pybind11_add_module()``: allow including Python as a ``SYSTEM`` include path.
+  `#1416 <https://github.com/pybind/pybind11/pull/1416>`_.
+
+* ``pybind11/stl.h`` does not convert strings to ``vector<string>`` anymore.
+  `#1258 <https://github.com/pybind/pybind11/issues/1258>`_.
+
+* Mark static methods as such to fix auto-generated Sphinx documentation.
+  `#1732 <https://github.com/pybind/pybind11/pull/1732>`_.
+
+* Re-throw forced unwind exceptions (e.g. during pthread termination).
+  `#1208 <https://github.com/pybind/pybind11/pull/1208>`_.
+
+* Added ``__contains__`` method to the bindings of maps (``std::map``,
+  ``std::unordered_map``).
+  `#1767 <https://github.com/pybind/pybind11/pull/1767>`_.
+
+* Improvements to ``gil_scoped_acquire``.
+  `#1211 <https://github.com/pybind/pybind11/pull/1211>`_.
+
+* Type caster support for ``std::deque<T>``.
+  `#1609 <https://github.com/pybind/pybind11/pull/1609>`_.
+
+* Support for ``std::unique_ptr`` holders, whose deleters differ between a base and derived
+  class. `#1353 <https://github.com/pybind/pybind11/pull/1353>`_.
+
+* Construction of STL array/vector-like data structures from
+  iterators. Added an ``extend()`` operation.
+  `#1709 <https://github.com/pybind/pybind11/pull/1709>`_,
+
+* CMake build system improvements for projects that include non-C++
+  files (e.g. plain C, CUDA) in ``pybind11_add_module`` et al.
+  `#1678 <https://github.com/pybind/pybind11/pull/1678>`_.
+
+* Fixed asynchronous invocation and deallocation of Python functions
+  wrapped in ``std::function``.
+  `#1595 <https://github.com/pybind/pybind11/pull/1595>`_.
+
+* Fixes regarding return value policy propagation in STL type casters.
+  `#1603 <https://github.com/pybind/pybind11/pull/1603>`_.
+
+* Fixed scoped enum comparisons.
+  `#1571 <https://github.com/pybind/pybind11/pull/1571>`_.
+
+* Fixed iostream redirection for code that releases the GIL.
+  `#1368 <https://github.com/pybind/pybind11/pull/1368>`_,
+
+* A number of CI-related fixes.
+  `#1757 <https://github.com/pybind/pybind11/pull/1757>`_,
+  `#1744 <https://github.com/pybind/pybind11/pull/1744>`_,
+  `#1670 <https://github.com/pybind/pybind11/pull/1670>`_.
+
+v2.2.4 (September 11, 2018)
+-----------------------------------------------------
+
+* Use new Python 3.7 Thread Specific Storage (TSS) implementation if available.
+  `#1454 <https://github.com/pybind/pybind11/pull/1454>`_,
+  `#1517 <https://github.com/pybind/pybind11/pull/1517>`_.
+
+* Fixes for newer MSVC versions and C++17 mode.
+  `#1347 <https://github.com/pybind/pybind11/pull/1347>`_,
+  `#1462 <https://github.com/pybind/pybind11/pull/1462>`_.
+
+* Propagate return value policies to type-specific casters
+  when casting STL containers.
+  `#1455 <https://github.com/pybind/pybind11/pull/1455>`_.
+
+* Allow ostream-redirection of more than 1024 characters.
+  `#1479 <https://github.com/pybind/pybind11/pull/1479>`_.
+
+* Set ``Py_DEBUG`` define when compiling against a debug Python build.
+  `#1438 <https://github.com/pybind/pybind11/pull/1438>`_.
+
+* Untangle integer logic in number type caster to work for custom
+  types that may only be castable to a restricted set of builtin types.
+  `#1442 <https://github.com/pybind/pybind11/pull/1442>`_.
+
+* CMake build system: Remember Python version in cache file.
+  `#1434 <https://github.com/pybind/pybind11/pull/1434>`_.
+
+* Fix for custom smart pointers: use ``std::addressof`` to obtain holder
+  address instead of ``operator&``.
+  `#1435 <https://github.com/pybind/pybind11/pull/1435>`_.
+
+* Properly report exceptions thrown during module initialization.
+  `#1362 <https://github.com/pybind/pybind11/pull/1362>`_.
+
+* Fixed a segmentation fault when creating empty-shaped NumPy array.
+  `#1371 <https://github.com/pybind/pybind11/pull/1371>`_.
+
+* The version of Intel C++ compiler must be >= 2017, and this is now checked by
+  the header files. `#1363 <https://github.com/pybind/pybind11/pull/1363>`_.
+
+* A few minor typo fixes and improvements to the test suite, and
+  patches that silence compiler warnings.
+
+* Vectors now support construction from generators, as well as ``extend()`` from a
+  list or generator.
+  `#1496 <https://github.com/pybind/pybind11/pull/1496>`_.
+
+
+v2.2.3 (April 29, 2018)
+-----------------------------------------------------
+
+* The pybind11 header location detection was replaced by a new implementation
+  that no longer depends on ``pip`` internals (the recently released ``pip``
+  10 has restricted access to this API).
+  `#1190 <https://github.com/pybind/pybind11/pull/1190>`_.
+
+* Small adjustment to an implementation detail to work around a compiler segmentation fault in Clang 3.3/3.4.
+  `#1350 <https://github.com/pybind/pybind11/pull/1350>`_.
+
+* The minimal supported version of the Intel compiler was >= 17.0 since
+  pybind11 v2.1. This check is now explicit, and a compile-time error is raised
+  if the compiler meet the requirement.
+  `#1363 <https://github.com/pybind/pybind11/pull/1363>`_.
+
+* Fixed an endianness-related fault in the test suite.
+  `#1287 <https://github.com/pybind/pybind11/pull/1287>`_.
+
+v2.2.2 (February 7, 2018)
+-----------------------------------------------------
+
+* Fixed a segfault when combining embedded interpreter
+  shutdown/reinitialization with external loaded pybind11 modules.
+  `#1092 <https://github.com/pybind/pybind11/pull/1092>`_.
+
+* Eigen support: fixed a bug where Nx1/1xN numpy inputs couldn't be passed as
+  arguments to Eigen vectors (which for Eigen are simply compile-time fixed
+  Nx1/1xN matrices).
+  `#1106 <https://github.com/pybind/pybind11/pull/1106>`_.
+
+* Clarified to license by moving the licensing of contributions from
+  ``LICENSE`` into ``CONTRIBUTING.md``: the licensing of contributions is not
+  actually part of the software license as distributed.  This isn't meant to be
+  a substantial change in the licensing of the project, but addresses concerns
+  that the clause made the license non-standard.
+  `#1109 <https://github.com/pybind/pybind11/issues/1109>`_.
+
+* Fixed a regression introduced in 2.1 that broke binding functions with lvalue
+  character literal arguments.
+  `#1128 <https://github.com/pybind/pybind11/pull/1128>`_.
+
+* MSVC: fix for compilation failures under /permissive-, and added the flag to
+  the appveyor test suite.
+  `#1155 <https://github.com/pybind/pybind11/pull/1155>`_.
+
+* Fixed ``__qualname__`` generation, and in turn, fixes how class names
+  (especially nested class names) are shown in generated docstrings.
+  `#1171 <https://github.com/pybind/pybind11/pull/1171>`_.
+
+* Updated the FAQ with a suggested project citation reference.
+  `#1189 <https://github.com/pybind/pybind11/pull/1189>`_.
+
+* Added fixes for deprecation warnings when compiled under C++17 with
+  ``-Wdeprecated`` turned on, and add ``-Wdeprecated`` to the test suite
+  compilation flags.
+  `#1191 <https://github.com/pybind/pybind11/pull/1191>`_.
+
+* Fixed outdated PyPI URLs in ``setup.py``.
+  `#1213 <https://github.com/pybind/pybind11/pull/1213>`_.
+
+* Fixed a refcount leak for arguments that end up in a ``py::args`` argument
+  for functions with both fixed positional and ``py::args`` arguments.
+  `#1216 <https://github.com/pybind/pybind11/pull/1216>`_.
+
+* Fixed a potential segfault resulting from possible premature destruction of
+  ``py::args``/``py::kwargs`` arguments with overloaded functions.
+  `#1223 <https://github.com/pybind/pybind11/pull/1223>`_.
+
+* Fixed ``del map[item]`` for a ``stl_bind.h`` bound stl map.
+  `#1229 <https://github.com/pybind/pybind11/pull/1229>`_.
+
+* Fixed a regression from v2.1.x where the aggregate initialization could
+  unintentionally end up at a constructor taking a templated
+  ``std::initializer_list<T>`` argument.
+  `#1249 <https://github.com/pybind/pybind11/pull/1249>`_.
+
+* Fixed an issue where calling a function with a keep_alive policy on the same
+  nurse/patient pair would cause the internal patient storage to needlessly
+  grow (unboundedly, if the nurse is long-lived).
+  `#1251 <https://github.com/pybind/pybind11/issues/1251>`_.
+
+* Various other minor fixes.
+
+v2.2.1 (September 14, 2017)
+-----------------------------------------------------
+
+* Added ``py::module_::reload()`` member function for reloading a module.
+  `#1040 <https://github.com/pybind/pybind11/pull/1040>`_.
+
+* Fixed a reference leak in the number converter.
+  `#1078 <https://github.com/pybind/pybind11/pull/1078>`_.
+
+* Fixed compilation with Clang on host GCC < 5 (old libstdc++ which isn't fully
+  C++11 compliant). `#1062 <https://github.com/pybind/pybind11/pull/1062>`_.
+
+* Fixed a regression where the automatic ``std::vector<bool>`` caster would
+  fail to compile. The same fix also applies to any container which returns
+  element proxies instead of references.
+  `#1053 <https://github.com/pybind/pybind11/pull/1053>`_.
+
+* Fixed a regression where the ``py::keep_alive`` policy could not be applied
+  to constructors. `#1065 <https://github.com/pybind/pybind11/pull/1065>`_.
+
+* Fixed a nullptr dereference when loading a ``py::module_local`` type
+  that's only registered in an external module.
+  `#1058 <https://github.com/pybind/pybind11/pull/1058>`_.
+
+* Fixed implicit conversion of accessors to types derived from ``py::object``.
+  `#1076 <https://github.com/pybind/pybind11/pull/1076>`_.
+
+* The ``name`` in ``PYBIND11_MODULE(name, variable)`` can now be a macro.
+  `#1082 <https://github.com/pybind/pybind11/pull/1082>`_.
+
+* Relaxed overly strict ``py::pickle()`` check for matching get and set types.
+  `#1064 <https://github.com/pybind/pybind11/pull/1064>`_.
+
+* Conversion errors now try to be more informative when it's likely that
+  a missing header is the cause (e.g. forgetting ``<pybind11/stl.h>``).
+  `#1077 <https://github.com/pybind/pybind11/pull/1077>`_.
+
+v2.2.0 (August 31, 2017)
+-----------------------------------------------------
+
+* Support for embedding the Python interpreter. See the
+  :doc:`documentation page </advanced/embedding>` for a
+  full overview of the new features.
+  `#774 <https://github.com/pybind/pybind11/pull/774>`_,
+  `#889 <https://github.com/pybind/pybind11/pull/889>`_,
+  `#892 <https://github.com/pybind/pybind11/pull/892>`_,
+  `#920 <https://github.com/pybind/pybind11/pull/920>`_.
+
+  .. code-block:: cpp
+
+      #include <pybind11/embed.h>
+      namespace py = pybind11;
+
+      int main() {
+          py::scoped_interpreter guard{}; // start the interpreter and keep it alive
+
+          py::print("Hello, World!"); // use the Python API
+      }
+
+* Support for inheriting from multiple C++ bases in Python.
+  `#693 <https://github.com/pybind/pybind11/pull/693>`_.
+
+  .. code-block:: python
+
+      from cpp_module import CppBase1, CppBase2
+
+      class PyDerived(CppBase1, CppBase2):
+          def __init__(self):
+              CppBase1.__init__(self)  # C++ bases must be initialized explicitly
+              CppBase2.__init__(self)
+
+* ``PYBIND11_MODULE`` is now the preferred way to create module entry points.
+  ``PYBIND11_PLUGIN`` is deprecated. See :ref:`macros` for details.
+  `#879 <https://github.com/pybind/pybind11/pull/879>`_.
+
+  .. code-block:: cpp
+
+      // new
+      PYBIND11_MODULE(example, m) {
+          m.def("add", [](int a, int b) { return a + b; });
+      }
+
+      // old
+      PYBIND11_PLUGIN(example) {
+          py::module m("example");
+          m.def("add", [](int a, int b) { return a + b; });
+          return m.ptr();
+      }
+
+* pybind11's headers and build system now more strictly enforce hidden symbol
+  visibility for extension modules. This should be seamless for most users,
+  but see the :doc:`upgrade` if you use a custom build system.
+  `#995 <https://github.com/pybind/pybind11/pull/995>`_.
+
+* Support for ``py::module_local`` types which allow multiple modules to
+  export the same C++ types without conflicts. This is useful for opaque
+  types like ``std::vector<int>``. ``py::bind_vector`` and ``py::bind_map``
+  now default to ``py::module_local`` if their elements are builtins or
+  local types. See :ref:`module_local` for details.
+  `#949 <https://github.com/pybind/pybind11/pull/949>`_,
+  `#981 <https://github.com/pybind/pybind11/pull/981>`_,
+  `#995 <https://github.com/pybind/pybind11/pull/995>`_,
+  `#997 <https://github.com/pybind/pybind11/pull/997>`_.
+
+* Custom constructors can now be added very easily using lambdas or factory
+  functions which return a class instance by value, pointer or holder. This
+  supersedes the old placement-new ``__init__`` technique.
+  See :ref:`custom_constructors` for details.
+  `#805 <https://github.com/pybind/pybind11/pull/805>`_,
+  `#1014 <https://github.com/pybind/pybind11/pull/1014>`_.
+
+  .. code-block:: cpp
+
+      struct Example {
+          Example(std::string);
+      };
+
+      py::class_<Example>(m, "Example")
+          .def(py::init<std::string>()) // existing constructor
+          .def(py::init([](int n) { // custom constructor
+              return std::make_unique<Example>(std::to_string(n));
+          }));
+
+* Similarly to custom constructors, pickling support functions are now bound
+  using the ``py::pickle()`` adaptor which improves type safety. See the
+  :doc:`upgrade` and :ref:`pickling` for details.
+  `#1038 <https://github.com/pybind/pybind11/pull/1038>`_.
+
+* Builtin support for converting C++17 standard library types and general
+  conversion improvements:
+
+  1. C++17 ``std::variant`` is supported right out of the box. C++11/14
+     equivalents (e.g. ``boost::variant``) can also be added with a simple
+     user-defined specialization. See :ref:`cpp17_container_casters` for details.
+     `#811 <https://github.com/pybind/pybind11/pull/811>`_,
+     `#845 <https://github.com/pybind/pybind11/pull/845>`_,
+     `#989 <https://github.com/pybind/pybind11/pull/989>`_.
+
+  2. Out-of-the-box support for C++17 ``std::string_view``.
+     `#906 <https://github.com/pybind/pybind11/pull/906>`_.
+
+  3. Improved compatibility of the builtin ``optional`` converter.
+     `#874 <https://github.com/pybind/pybind11/pull/874>`_.
+
+  4. The ``bool`` converter now accepts ``numpy.bool_`` and types which
+     define ``__bool__`` (Python 3.x) or ``__nonzero__`` (Python 2.7).
+     `#925 <https://github.com/pybind/pybind11/pull/925>`_.
+
+  5. C++-to-Python casters are now more efficient and move elements out
+     of rvalue containers whenever possible.
+     `#851 <https://github.com/pybind/pybind11/pull/851>`_,
+     `#936 <https://github.com/pybind/pybind11/pull/936>`_,
+     `#938 <https://github.com/pybind/pybind11/pull/938>`_.
+
+  6. Fixed ``bytes`` to ``std::string/char*`` conversion on Python 3.
+     `#817 <https://github.com/pybind/pybind11/pull/817>`_.
+
+  7. Fixed lifetime of temporary C++ objects created in Python-to-C++ conversions.
+     `#924 <https://github.com/pybind/pybind11/pull/924>`_.
+
+* Scope guard call policy for RAII types, e.g. ``py::call_guard<py::gil_scoped_release>()``,
+  ``py::call_guard<py::scoped_ostream_redirect>()``. See :ref:`call_policies` for details.
+  `#740 <https://github.com/pybind/pybind11/pull/740>`_.
+
+* Utility for redirecting C++ streams to Python (e.g. ``std::cout`` ->
+  ``sys.stdout``). Scope guard ``py::scoped_ostream_redirect`` in C++ and
+  a context manager in Python. See :ref:`ostream_redirect`.
+  `#1009 <https://github.com/pybind/pybind11/pull/1009>`_.
+
+* Improved handling of types and exceptions across module boundaries.
+  `#915 <https://github.com/pybind/pybind11/pull/915>`_,
+  `#951 <https://github.com/pybind/pybind11/pull/951>`_,
+  `#995 <https://github.com/pybind/pybind11/pull/995>`_.
+
+* Fixed destruction order of ``py::keep_alive`` nurse/patient objects
+  in reference cycles.
+  `#856 <https://github.com/pybind/pybind11/pull/856>`_.
+
+* NumPy and buffer protocol related improvements:
+
+  1. Support for negative strides in Python buffer objects/numpy arrays. This
+     required changing integers from unsigned to signed for the related C++ APIs.
+     Note: If you have compiler warnings enabled, you may notice some new conversion
+     warnings after upgrading. These can be resolved with ``static_cast``.
+     `#782 <https://github.com/pybind/pybind11/pull/782>`_.
+
+  2. Support ``std::complex`` and arrays inside ``PYBIND11_NUMPY_DTYPE``.
+     `#831 <https://github.com/pybind/pybind11/pull/831>`_,
+     `#832 <https://github.com/pybind/pybind11/pull/832>`_.
+
+  3. Support for constructing ``py::buffer_info`` and ``py::arrays`` using
+     arbitrary containers or iterators instead of requiring a ``std::vector``.
+     `#788 <https://github.com/pybind/pybind11/pull/788>`_,
+     `#822 <https://github.com/pybind/pybind11/pull/822>`_,
+     `#860 <https://github.com/pybind/pybind11/pull/860>`_.
+
+  4. Explicitly check numpy version and require >= 1.7.0.
+     `#819 <https://github.com/pybind/pybind11/pull/819>`_.
+
+* Support for allowing/prohibiting ``None`` for specific arguments and improved
+  ``None`` overload resolution order. See :ref:`none_arguments` for details.
+  `#843 <https://github.com/pybind/pybind11/pull/843>`_.
+  `#859 <https://github.com/pybind/pybind11/pull/859>`_.
+
+* Added ``py::exec()`` as a shortcut for ``py::eval<py::eval_statements>()``
+  and support for C++11 raw string literals as input. See :ref:`eval`.
+  `#766 <https://github.com/pybind/pybind11/pull/766>`_,
+  `#827 <https://github.com/pybind/pybind11/pull/827>`_.
+
+* ``py::vectorize()`` ignores non-vectorizable arguments and supports
+  member functions.
+  `#762 <https://github.com/pybind/pybind11/pull/762>`_.
+
+* Support for bound methods as callbacks (``pybind11/functional.h``).
+  `#815 <https://github.com/pybind/pybind11/pull/815>`_.
+
+* Allow aliasing pybind11 methods: ``cls.attr("foo") = cls.attr("bar")``.
+  `#802 <https://github.com/pybind/pybind11/pull/802>`_.
+
+* Don't allow mixed static/non-static overloads.
+  `#804 <https://github.com/pybind/pybind11/pull/804>`_.
+
+* Fixed overriding static properties in derived classes.
+  `#784 <https://github.com/pybind/pybind11/pull/784>`_.
+
+* Added support for write only properties.
+  `#1144 <https://github.com/pybind/pybind11/pull/1144>`_.
+
+* Improved deduction of member functions of a derived class when its bases
+  aren't registered with pybind11.
+  `#855 <https://github.com/pybind/pybind11/pull/855>`_.
+
+  .. code-block:: cpp
+
+      struct Base {
+          int foo() { return 42; }
+      }
+
+      struct Derived : Base {}
+
+      // Now works, but previously required also binding `Base`
+      py::class_<Derived>(m, "Derived")
+          .def("foo", &Derived::foo); // function is actually from `Base`
+
+* The implementation of ``py::init<>`` now uses C++11 brace initialization
+  syntax to construct instances, which permits binding implicit constructors of
+  aggregate types. `#1015 <https://github.com/pybind/pybind11/pull/1015>`_.
+
+    .. code-block:: cpp
+
+        struct Aggregate {
+            int a;
+            std::string b;
+        };
+
+        py::class_<Aggregate>(m, "Aggregate")
+            .def(py::init<int, const std::string &>());
+
+* Fixed issues with multiple inheritance with offset base/derived pointers.
+  `#812 <https://github.com/pybind/pybind11/pull/812>`_,
+  `#866 <https://github.com/pybind/pybind11/pull/866>`_,
+  `#960 <https://github.com/pybind/pybind11/pull/960>`_.
+
+* Fixed reference leak of type objects.
+  `#1030 <https://github.com/pybind/pybind11/pull/1030>`_.
+
+* Improved support for the ``/std:c++14`` and ``/std:c++latest`` modes
+  on MSVC 2017.
+  `#841 <https://github.com/pybind/pybind11/pull/841>`_,
+  `#999 <https://github.com/pybind/pybind11/pull/999>`_.
+
+* Fixed detection of private operator new on MSVC.
+  `#893 <https://github.com/pybind/pybind11/pull/893>`_,
+  `#918 <https://github.com/pybind/pybind11/pull/918>`_.
+
+* Intel C++ compiler compatibility fixes.
+  `#937 <https://github.com/pybind/pybind11/pull/937>`_.
+
+* Fixed implicit conversion of `py::enum_` to integer types on Python 2.7.
+  `#821 <https://github.com/pybind/pybind11/pull/821>`_.
+
+* Added ``py::hash`` to fetch the hash value of Python objects, and
+  ``.def(hash(py::self))`` to provide the C++ ``std::hash`` as the Python
+  ``__hash__`` method.
+  `#1034 <https://github.com/pybind/pybind11/pull/1034>`_.
+
+* Fixed ``__truediv__`` on Python 2 and ``__itruediv__`` on Python 3.
+  `#867 <https://github.com/pybind/pybind11/pull/867>`_.
+
+* ``py::capsule`` objects now support the ``name`` attribute. This is useful
+  for interfacing with ``scipy.LowLevelCallable``.
+  `#902 <https://github.com/pybind/pybind11/pull/902>`_.
+
+* Fixed ``py::make_iterator``'s ``__next__()`` for past-the-end calls.
+  `#897 <https://github.com/pybind/pybind11/pull/897>`_.
+
+* Added ``error_already_set::matches()`` for checking Python exceptions.
+  `#772 <https://github.com/pybind/pybind11/pull/772>`_.
+
+* Deprecated ``py::error_already_set::clear()``. It's no longer needed
+  following a simplification of the ``py::error_already_set`` class.
+  `#954 <https://github.com/pybind/pybind11/pull/954>`_.
+
+* Deprecated ``py::handle::operator==()`` in favor of ``py::handle::is()``
+  `#825 <https://github.com/pybind/pybind11/pull/825>`_.
+
+* Deprecated ``py::object::borrowed``/``py::object::stolen``.
+  Use ``py::object::borrowed_t{}``/``py::object::stolen_t{}`` instead.
+  `#771 <https://github.com/pybind/pybind11/pull/771>`_.
+
+* Changed internal data structure versioning to avoid conflicts between
+  modules compiled with different revisions of pybind11.
+  `#1012 <https://github.com/pybind/pybind11/pull/1012>`_.
+
+* Additional compile-time and run-time error checking and more informative messages.
+  `#786 <https://github.com/pybind/pybind11/pull/786>`_,
+  `#794 <https://github.com/pybind/pybind11/pull/794>`_,
+  `#803 <https://github.com/pybind/pybind11/pull/803>`_.
+
+* Various minor improvements and fixes.
+  `#764 <https://github.com/pybind/pybind11/pull/764>`_,
+  `#791 <https://github.com/pybind/pybind11/pull/791>`_,
+  `#795 <https://github.com/pybind/pybind11/pull/795>`_,
+  `#840 <https://github.com/pybind/pybind11/pull/840>`_,
+  `#844 <https://github.com/pybind/pybind11/pull/844>`_,
+  `#846 <https://github.com/pybind/pybind11/pull/846>`_,
+  `#849 <https://github.com/pybind/pybind11/pull/849>`_,
+  `#858 <https://github.com/pybind/pybind11/pull/858>`_,
+  `#862 <https://github.com/pybind/pybind11/pull/862>`_,
+  `#871 <https://github.com/pybind/pybind11/pull/871>`_,
+  `#872 <https://github.com/pybind/pybind11/pull/872>`_,
+  `#881 <https://github.com/pybind/pybind11/pull/881>`_,
+  `#888 <https://github.com/pybind/pybind11/pull/888>`_,
+  `#899 <https://github.com/pybind/pybind11/pull/899>`_,
+  `#928 <https://github.com/pybind/pybind11/pull/928>`_,
+  `#931 <https://github.com/pybind/pybind11/pull/931>`_,
+  `#944 <https://github.com/pybind/pybind11/pull/944>`_,
+  `#950 <https://github.com/pybind/pybind11/pull/950>`_,
+  `#952 <https://github.com/pybind/pybind11/pull/952>`_,
+  `#962 <https://github.com/pybind/pybind11/pull/962>`_,
+  `#965 <https://github.com/pybind/pybind11/pull/965>`_,
+  `#970 <https://github.com/pybind/pybind11/pull/970>`_,
+  `#978 <https://github.com/pybind/pybind11/pull/978>`_,
+  `#979 <https://github.com/pybind/pybind11/pull/979>`_,
+  `#986 <https://github.com/pybind/pybind11/pull/986>`_,
+  `#1020 <https://github.com/pybind/pybind11/pull/1020>`_,
+  `#1027 <https://github.com/pybind/pybind11/pull/1027>`_,
+  `#1037 <https://github.com/pybind/pybind11/pull/1037>`_.
+
+* Testing improvements.
+  `#798 <https://github.com/pybind/pybind11/pull/798>`_,
+  `#882 <https://github.com/pybind/pybind11/pull/882>`_,
+  `#898 <https://github.com/pybind/pybind11/pull/898>`_,
+  `#900 <https://github.com/pybind/pybind11/pull/900>`_,
+  `#921 <https://github.com/pybind/pybind11/pull/921>`_,
+  `#923 <https://github.com/pybind/pybind11/pull/923>`_,
+  `#963 <https://github.com/pybind/pybind11/pull/963>`_.
+
+v2.1.1 (April 7, 2017)
+-----------------------------------------------------
+
+* Fixed minimum version requirement for MSVC 2015u3
+  `#773 <https://github.com/pybind/pybind11/pull/773>`_.
+
+v2.1.0 (March 22, 2017)
+-----------------------------------------------------
+
+* pybind11 now performs function overload resolution in two phases. The first
+  phase only considers exact type matches, while the second allows for implicit
+  conversions to take place. A special ``noconvert()`` syntax can be used to
+  completely disable implicit conversions for specific arguments.
+  `#643 <https://github.com/pybind/pybind11/pull/643>`_,
+  `#634 <https://github.com/pybind/pybind11/pull/634>`_,
+  `#650 <https://github.com/pybind/pybind11/pull/650>`_.
+
+* Fixed a regression where static properties no longer worked with classes
+  using multiple inheritance. The ``py::metaclass`` attribute is no longer
+  necessary (and deprecated as of this release) when binding classes with
+  static properties.
+  `#679 <https://github.com/pybind/pybind11/pull/679>`_,
+
+* Classes bound using ``pybind11`` can now use custom metaclasses.
+  `#679 <https://github.com/pybind/pybind11/pull/679>`_,
+
+* ``py::args`` and ``py::kwargs`` can now be mixed with other positional
+  arguments when binding functions using pybind11.
+  `#611 <https://github.com/pybind/pybind11/pull/611>`_.
+
+* Improved support for C++11 unicode string and character types; added
+  extensive documentation regarding pybind11's string conversion behavior.
+  `#624 <https://github.com/pybind/pybind11/pull/624>`_,
+  `#636 <https://github.com/pybind/pybind11/pull/636>`_,
+  `#715 <https://github.com/pybind/pybind11/pull/715>`_.
+
+* pybind11 can now avoid expensive copies when converting Eigen arrays to NumPy
+  arrays (and vice versa). `#610 <https://github.com/pybind/pybind11/pull/610>`_.
+
+* The "fast path" in ``py::vectorize`` now works for any full-size group of C or
+  F-contiguous arrays. The non-fast path is also faster since it no longer performs
+  copies of the input arguments (except when type conversions are necessary).
+  `#610 <https://github.com/pybind/pybind11/pull/610>`_.
+
+* Added fast, unchecked access to NumPy arrays via a proxy object.
+  `#746 <https://github.com/pybind/pybind11/pull/746>`_.
+
+* Transparent support for class-specific ``operator new`` and
+  ``operator delete`` implementations.
+  `#755 <https://github.com/pybind/pybind11/pull/755>`_.
+
+* Slimmer and more efficient STL-compatible iterator interface for sequence types.
+  `#662 <https://github.com/pybind/pybind11/pull/662>`_.
+
+* Improved custom holder type support.
+  `#607 <https://github.com/pybind/pybind11/pull/607>`_.
+
+* ``nullptr`` to ``None`` conversion fixed in various builtin type casters.
+  `#732 <https://github.com/pybind/pybind11/pull/732>`_.
+
+* ``enum_`` now exposes its members via a special ``__members__`` attribute.
+  `#666 <https://github.com/pybind/pybind11/pull/666>`_.
+
+* ``std::vector`` bindings created using ``stl_bind.h`` can now optionally
+  implement the buffer protocol. `#488 <https://github.com/pybind/pybind11/pull/488>`_.
+
+* Automated C++ reference documentation using doxygen and breathe.
+  `#598 <https://github.com/pybind/pybind11/pull/598>`_.
+
+* Added minimum compiler version assertions.
+  `#727 <https://github.com/pybind/pybind11/pull/727>`_.
+
+* Improved compatibility with C++1z.
+  `#677 <https://github.com/pybind/pybind11/pull/677>`_.
+
+* Improved ``py::capsule`` API. Can be used to implement cleanup
+  callbacks that are involved at module destruction time.
+  `#752 <https://github.com/pybind/pybind11/pull/752>`_.
+
+* Various minor improvements and fixes.
+  `#595 <https://github.com/pybind/pybind11/pull/595>`_,
+  `#588 <https://github.com/pybind/pybind11/pull/588>`_,
+  `#589 <https://github.com/pybind/pybind11/pull/589>`_,
+  `#603 <https://github.com/pybind/pybind11/pull/603>`_,
+  `#619 <https://github.com/pybind/pybind11/pull/619>`_,
+  `#648 <https://github.com/pybind/pybind11/pull/648>`_,
+  `#695 <https://github.com/pybind/pybind11/pull/695>`_,
+  `#720 <https://github.com/pybind/pybind11/pull/720>`_,
+  `#723 <https://github.com/pybind/pybind11/pull/723>`_,
+  `#729 <https://github.com/pybind/pybind11/pull/729>`_,
+  `#724 <https://github.com/pybind/pybind11/pull/724>`_,
+  `#742 <https://github.com/pybind/pybind11/pull/742>`_,
+  `#753 <https://github.com/pybind/pybind11/pull/753>`_.
+
+v2.0.1 (Jan 4, 2017)
+-----------------------------------------------------
+
+* Fix pointer to reference error in type_caster on MSVC
+  `#583 <https://github.com/pybind/pybind11/pull/583>`_.
+
+* Fixed a segmentation in the test suite due to a typo
+  `cd7eac <https://github.com/pybind/pybind11/commit/cd7eac>`_.
+
+v2.0.0 (Jan 1, 2017)
+-----------------------------------------------------
+
+* Fixed a reference counting regression affecting types with custom metaclasses
+  (introduced in v2.0.0-rc1).
+  `#571 <https://github.com/pybind/pybind11/pull/571>`_.
+
+* Quenched a CMake policy warning.
+  `#570 <https://github.com/pybind/pybind11/pull/570>`_.
+
+v2.0.0-rc1 (Dec 23, 2016)
+-----------------------------------------------------
+
+The pybind11 developers are excited to issue a release candidate of pybind11
+with a subsequent v2.0.0 release planned in early January next year.
+
+An incredible amount of effort by went into pybind11 over the last ~5 months,
+leading to a release that is jam-packed with exciting new features and numerous
+usability improvements. The following list links PRs or individual commits
+whenever applicable.
+
+Happy Christmas!
+
+* Support for binding C++ class hierarchies that make use of multiple
+  inheritance. `#410 <https://github.com/pybind/pybind11/pull/410>`_.
+
+* PyPy support: pybind11 now supports nightly builds of PyPy and will
+  interoperate with the future 5.7 release. No code changes are necessary,
+  everything "just" works as usual. Note that we only target the Python 2.7
+  branch for now; support for 3.x will be added once its ``cpyext`` extension
+  support catches up. A few minor features remain unsupported for the time
+  being (notably dynamic attributes in custom types).
+  `#527 <https://github.com/pybind/pybind11/pull/527>`_.
+
+* Significant work on the documentation -- in particular, the monolithic
+  ``advanced.rst`` file was restructured into a easier to read hierarchical
+  organization. `#448 <https://github.com/pybind/pybind11/pull/448>`_.
+
+* Many NumPy-related improvements:
+
+  1. Object-oriented API to access and modify NumPy ``ndarray`` instances,
+     replicating much of the corresponding NumPy C API functionality.
+     `#402 <https://github.com/pybind/pybind11/pull/402>`_.
+
+  2. NumPy array ``dtype`` array descriptors are now first-class citizens and
+     are exposed via a new class ``py::dtype``.
+
+  3. Structured dtypes can be registered using the ``PYBIND11_NUMPY_DTYPE()``
+     macro. Special ``array`` constructors accepting dtype objects were also
+     added.
+
+     One potential caveat involving this change: format descriptor strings
+     should now be accessed via ``format_descriptor::format()`` (however, for
+     compatibility purposes, the old syntax ``format_descriptor::value`` will
+     still work for non-structured data types). `#308
+     <https://github.com/pybind/pybind11/pull/308>`_.
+
+  4. Further improvements to support structured dtypes throughout the system.
+     `#472 <https://github.com/pybind/pybind11/pull/472>`_,
+     `#474 <https://github.com/pybind/pybind11/pull/474>`_,
+     `#459 <https://github.com/pybind/pybind11/pull/459>`_,
+     `#453 <https://github.com/pybind/pybind11/pull/453>`_,
+     `#452 <https://github.com/pybind/pybind11/pull/452>`_, and
+     `#505 <https://github.com/pybind/pybind11/pull/505>`_.
+
+  5. Fast access operators. `#497 <https://github.com/pybind/pybind11/pull/497>`_.
+
+  6. Constructors for arrays whose storage is owned by another object.
+     `#440 <https://github.com/pybind/pybind11/pull/440>`_.
+
+  7. Added constructors for ``array`` and ``array_t`` explicitly accepting shape
+     and strides; if strides are not provided, they are deduced assuming
+     C-contiguity. Also added simplified constructors for 1-dimensional case.
+
+  8. Added buffer/NumPy support for ``char[N]`` and ``std::array<char, N>`` types.
+
+  9. Added ``memoryview`` wrapper type which is constructible from ``buffer_info``.
+
+* Eigen: many additional conversions and support for non-contiguous
+  arrays/slices.
+  `#427 <https://github.com/pybind/pybind11/pull/427>`_,
+  `#315 <https://github.com/pybind/pybind11/pull/315>`_,
+  `#316 <https://github.com/pybind/pybind11/pull/316>`_,
+  `#312 <https://github.com/pybind/pybind11/pull/312>`_, and
+  `#267 <https://github.com/pybind/pybind11/pull/267>`_
+
+* Incompatible changes in ``class_<...>::class_()``:
+
+    1. Declarations of types that provide access via the buffer protocol must
+       now include the ``py::buffer_protocol()`` annotation as an argument to
+       the ``class_`` constructor.
+
+    2. Declarations of types that require a custom metaclass (i.e. all classes
+       which include static properties via commands such as
+       ``def_readwrite_static()``) must now include the ``py::metaclass()``
+       annotation as an argument to the ``class_`` constructor.
+
+       These two changes were necessary to make type definitions in pybind11
+       future-proof, and to support PyPy via its cpyext mechanism. `#527
+       <https://github.com/pybind/pybind11/pull/527>`_.
+
+
+    3. This version of pybind11 uses a redesigned mechanism for instantiating
+       trampoline classes that are used to override virtual methods from within
+       Python. This led to the following user-visible syntax change: instead of
+
+       .. code-block:: cpp
+
+           py::class_<TrampolineClass>("MyClass")
+             .alias<MyClass>()
+             ....
+
+       write
+
+       .. code-block:: cpp
+
+           py::class_<MyClass, TrampolineClass>("MyClass")
+             ....
+
+       Importantly, both the original and the trampoline class are now
+       specified as an arguments (in arbitrary order) to the ``py::class_``
+       template, and the ``alias<..>()`` call is gone. The new scheme has zero
+       overhead in cases when Python doesn't override any functions of the
+       underlying C++ class. `rev. 86d825
+       <https://github.com/pybind/pybind11/commit/86d825>`_.
+
+* Added ``eval`` and ``eval_file`` functions for evaluating expressions and
+  statements from a string or file. `rev. 0d3fc3
+  <https://github.com/pybind/pybind11/commit/0d3fc3>`_.
+
+* pybind11 can now create types with a modifiable dictionary.
+  `#437 <https://github.com/pybind/pybind11/pull/437>`_ and
+  `#444 <https://github.com/pybind/pybind11/pull/444>`_.
+
+* Support for translation of arbitrary C++ exceptions to Python counterparts.
+  `#296 <https://github.com/pybind/pybind11/pull/296>`_ and
+  `#273 <https://github.com/pybind/pybind11/pull/273>`_.
+
+* Report full backtraces through mixed C++/Python code, better reporting for
+  import errors, fixed GIL management in exception processing.
+  `#537 <https://github.com/pybind/pybind11/pull/537>`_,
+  `#494 <https://github.com/pybind/pybind11/pull/494>`_,
+  `rev. e72d95 <https://github.com/pybind/pybind11/commit/e72d95>`_, and
+  `rev. 099d6e <https://github.com/pybind/pybind11/commit/099d6e>`_.
+
+* Support for bit-level operations, comparisons, and serialization of C++
+  enumerations. `#503 <https://github.com/pybind/pybind11/pull/503>`_,
+  `#508 <https://github.com/pybind/pybind11/pull/508>`_,
+  `#380 <https://github.com/pybind/pybind11/pull/380>`_,
+  `#309 <https://github.com/pybind/pybind11/pull/309>`_.
+  `#311 <https://github.com/pybind/pybind11/pull/311>`_.
+
+* The ``class_`` constructor now accepts its template arguments in any order.
+  `#385 <https://github.com/pybind/pybind11/pull/385>`_.
+
+* Attribute and item accessors now have a more complete interface which makes
+  it possible to chain attributes as in
+  ``obj.attr("a")[key].attr("b").attr("method")(1, 2, 3)``. `#425
+  <https://github.com/pybind/pybind11/pull/425>`_.
+
+* Major redesign of the default and conversion constructors in ``pytypes.h``.
+  `#464 <https://github.com/pybind/pybind11/pull/464>`_.
+
+* Added built-in support for ``std::shared_ptr`` holder type. It is no longer
+  necessary to to include a declaration of the form
+  ``PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)`` (though continuing to
+  do so won't cause an error).
+  `#454 <https://github.com/pybind/pybind11/pull/454>`_.
+
+* New ``py::overload_cast`` casting operator to select among multiple possible
+  overloads of a function. An example:
+
+    .. code-block:: cpp
+
+        py::class_<Pet>(m, "Pet")
+            .def("set", py::overload_cast<int>(&Pet::set), "Set the pet's age")
+            .def("set", py::overload_cast<const std::string &>(&Pet::set), "Set the pet's name");
+
+  This feature only works on C++14-capable compilers.
+  `#541 <https://github.com/pybind/pybind11/pull/541>`_.
+
+* C++ types are automatically cast to Python types, e.g. when assigning
+  them as an attribute. For instance, the following is now legal:
+
+    .. code-block:: cpp
+
+        py::module m = /* ... */
+        m.attr("constant") = 123;
+
+  (Previously, a ``py::cast`` call was necessary to avoid a compilation error.)
+  `#551 <https://github.com/pybind/pybind11/pull/551>`_.
+
+* Redesigned ``pytest``-based test suite. `#321 <https://github.com/pybind/pybind11/pull/321>`_.
+
+* Instance tracking to detect reference leaks in test suite. `#324 <https://github.com/pybind/pybind11/pull/324>`_
+
+* pybind11 can now distinguish between multiple different instances that are
+  located at the same memory address, but which have different types.
+  `#329 <https://github.com/pybind/pybind11/pull/329>`_.
+
+* Improved logic in ``move`` return value policy.
+  `#510 <https://github.com/pybind/pybind11/pull/510>`_,
+  `#297 <https://github.com/pybind/pybind11/pull/297>`_.
+
+* Generalized unpacking API to permit calling Python functions from C++ using
+  notation such as ``foo(a1, a2, *args, "ka"_a=1, "kb"_a=2, **kwargs)``. `#372 <https://github.com/pybind/pybind11/pull/372>`_.
+
+* ``py::print()`` function whose behavior matches that of the native Python
+  ``print()`` function. `#372 <https://github.com/pybind/pybind11/pull/372>`_.
+
+* Added ``py::dict`` keyword constructor:``auto d = dict("number"_a=42,
+  "name"_a="World");``. `#372 <https://github.com/pybind/pybind11/pull/372>`_.
+
+* Added ``py::str::format()`` method and ``_s`` literal: ``py::str s = "1 + 2
+  = {}"_s.format(3);``. `#372 <https://github.com/pybind/pybind11/pull/372>`_.
+
+* Added ``py::repr()`` function which is equivalent to Python's builtin
+  ``repr()``. `#333 <https://github.com/pybind/pybind11/pull/333>`_.
+
+* Improved construction and destruction logic for holder types. It is now
+  possible to reference instances with smart pointer holder types without
+  constructing the holder if desired. The ``PYBIND11_DECLARE_HOLDER_TYPE``
+  macro now accepts an optional second parameter to indicate whether the holder
+  type uses intrusive reference counting.
+  `#533 <https://github.com/pybind/pybind11/pull/533>`_ and
+  `#561 <https://github.com/pybind/pybind11/pull/561>`_.
+
+* Mapping a stateless C++ function to Python and back is now "for free" (i.e.
+  no extra indirections or argument conversion overheads). `rev. 954b79
+  <https://github.com/pybind/pybind11/commit/954b79>`_.
+
+* Bindings for ``std::valarray<T>``.
+  `#545 <https://github.com/pybind/pybind11/pull/545>`_.
+
+* Improved support for C++17 capable compilers.
+  `#562 <https://github.com/pybind/pybind11/pull/562>`_.
+
+* Bindings for ``std::optional<t>``.
+  `#475 <https://github.com/pybind/pybind11/pull/475>`_,
+  `#476 <https://github.com/pybind/pybind11/pull/476>`_,
+  `#479 <https://github.com/pybind/pybind11/pull/479>`_,
+  `#499 <https://github.com/pybind/pybind11/pull/499>`_, and
+  `#501 <https://github.com/pybind/pybind11/pull/501>`_.
+
+* ``stl_bind.h``: general improvements and support for ``std::map`` and
+  ``std::unordered_map``.
+  `#490 <https://github.com/pybind/pybind11/pull/490>`_,
+  `#282 <https://github.com/pybind/pybind11/pull/282>`_,
+  `#235 <https://github.com/pybind/pybind11/pull/235>`_.
+
+* The ``std::tuple``, ``std::pair``, ``std::list``, and ``std::vector`` type
+  casters now accept any Python sequence type as input. `rev. 107285
+  <https://github.com/pybind/pybind11/commit/107285>`_.
+
+* Improved CMake Python detection on multi-architecture Linux.
+  `#532 <https://github.com/pybind/pybind11/pull/532>`_.
+
+* Infrastructure to selectively disable or enable parts of the automatically
+  generated docstrings. `#486 <https://github.com/pybind/pybind11/pull/486>`_.
+
+* ``reference`` and ``reference_internal`` are now the default return value
+  properties for static and non-static properties, respectively. `#473
+  <https://github.com/pybind/pybind11/pull/473>`_. (the previous defaults
+  were ``automatic``). `#473 <https://github.com/pybind/pybind11/pull/473>`_.
+
+* Support for ``std::unique_ptr`` with non-default deleters or no deleter at
+  all (``py::nodelete``). `#384 <https://github.com/pybind/pybind11/pull/384>`_.
+
+* Deprecated ``handle::call()`` method. The new syntax to call Python
+  functions is simply ``handle()``. It can also be invoked explicitly via
+  ``handle::operator<X>()``, where ``X`` is an optional return value policy.
+
+* Print more informative error messages when ``make_tuple()`` or ``cast()``
+  fail. `#262 <https://github.com/pybind/pybind11/pull/262>`_.
+
+* Creation of holder types for classes deriving from
+  ``std::enable_shared_from_this<>`` now also works for ``const`` values.
+  `#260 <https://github.com/pybind/pybind11/pull/260>`_.
+
+* ``make_iterator()`` improvements for better compatibility with various
+  types (now uses prefix increment operator); it now also accepts iterators
+  with different begin/end types as long as they are equality comparable.
+  `#247 <https://github.com/pybind/pybind11/pull/247>`_.
+
+* ``arg()`` now accepts a wider range of argument types for default values.
+  `#244 <https://github.com/pybind/pybind11/pull/244>`_.
+
+* Support ``keep_alive`` where the nurse object may be ``None``. `#341
+  <https://github.com/pybind/pybind11/pull/341>`_.
+
+* Added constructors for ``str`` and ``bytes`` from zero-terminated char
+  pointers, and from char pointers and length. Added constructors for ``str``
+  from ``bytes`` and for ``bytes`` from ``str``, which will perform UTF-8
+  decoding/encoding as required.
+
+* Many other improvements of library internals without user-visible changes
+
+
+1.8.1 (July 12, 2016)
+----------------------
+* Fixed a rare but potentially very severe issue when the garbage collector ran
+  during pybind11 type creation.
+
+1.8.0 (June 14, 2016)
+----------------------
+* Redesigned CMake build system which exports a convenient
+  ``pybind11_add_module`` function to parent projects.
+* ``std::vector<>`` type bindings analogous to Boost.Python's ``indexing_suite``
+* Transparent conversion of sparse and dense Eigen matrices and vectors (``eigen.h``)
+* Added an ``ExtraFlags`` template argument to the NumPy ``array_t<>`` wrapper
+  to disable an enforced cast that may lose precision, e.g. to create overloads
+  for different precisions and complex vs real-valued matrices.
+* Prevent implicit conversion of floating point values to integral types in
+  function arguments
+* Fixed incorrect default return value policy for functions returning a shared
+  pointer
+* Don't allow registering a type via ``class_`` twice
+* Don't allow casting a ``None`` value into a C++ lvalue reference
+* Fixed a crash in ``enum_::operator==`` that was triggered by the ``help()`` command
+* Improved detection of whether or not custom C++ types can be copy/move-constructed
+* Extended ``str`` type to also work with ``bytes`` instances
+* Added a ``"name"_a`` user defined string literal that is equivalent to ``py::arg("name")``.
+* When specifying function arguments via ``py::arg``, the test that verifies
+  the number of arguments now runs at compile time.
+* Added ``[[noreturn]]`` attribute to ``pybind11_fail()`` to quench some
+  compiler warnings
+* List function arguments in exception text when the dispatch code cannot find
+  a matching overload
+* Added ``PYBIND11_OVERLOAD_NAME`` and ``PYBIND11_OVERLOAD_PURE_NAME`` macros which
+  can be used to override virtual methods whose name differs in C++ and Python
+  (e.g. ``__call__`` and ``operator()``)
+* Various minor ``iterator`` and ``make_iterator()`` improvements
+* Transparently support ``__bool__`` on Python 2.x and Python 3.x
+* Fixed issue with destructor of unpickled object not being called
+* Minor CMake build system improvements on Windows
+* New ``pybind11::args`` and ``pybind11::kwargs`` types to create functions which
+  take an arbitrary number of arguments and keyword arguments
+* New syntax to call a Python function from C++ using ``*args`` and ``*kwargs``
+* The functions ``def_property_*`` now correctly process docstring arguments (these
+  formerly caused a segmentation fault)
+* Many ``mkdoc.py`` improvements (enumerations, template arguments, ``DOC()``
+  macro accepts more arguments)
+* Cygwin support
+* Documentation improvements (pickling support, ``keep_alive``, macro usage)
+
+1.7 (April 30, 2016)
+----------------------
+* Added a new ``move`` return value policy that triggers C++11 move semantics.
+  The automatic return value policy falls back to this case whenever a rvalue
+  reference is encountered
+* Significantly more general GIL state routines that are used instead of
+  Python's troublesome ``PyGILState_Ensure`` and ``PyGILState_Release`` API
+* Redesign of opaque types that drastically simplifies their usage
+* Extended ability to pass values of type ``[const] void *``
+* ``keep_alive`` fix: don't fail when there is no patient
+* ``functional.h``: acquire the GIL before calling a Python function
+* Added Python RAII type wrappers ``none`` and ``iterable``
+* Added ``*args`` and ``*kwargs`` pass-through parameters to
+  ``pybind11.get_include()`` function
+* Iterator improvements and fixes
+* Documentation on return value policies and opaque types improved
+
+1.6 (April 30, 2016)
+----------------------
+* Skipped due to upload to PyPI gone wrong and inability to recover
+  (https://github.com/pypa/packaging-problems/issues/74)
+
+1.5 (April 21, 2016)
+----------------------
+* For polymorphic types, use RTTI to try to return the closest type registered with pybind11
+* Pickling support for serializing and unserializing C++ instances to a byte stream in Python
+* Added a convenience routine ``make_iterator()`` which turns a range indicated
+  by a pair of C++ iterators into a iterable Python object
+* Added ``len()`` and a variadic ``make_tuple()`` function
+* Addressed a rare issue that could confuse the current virtual function
+  dispatcher and another that could lead to crashes in multi-threaded
+  applications
+* Added a ``get_include()`` function to the Python module that returns the path
+  of the directory containing the installed pybind11 header files
+* Documentation improvements: import issues, symbol visibility, pickling, limitations
+* Added casting support for ``std::reference_wrapper<>``
+
+1.4 (April 7, 2016)
+--------------------------
+* Transparent type conversion for ``std::wstring`` and ``wchar_t``
+* Allow passing ``nullptr``-valued strings
+* Transparent passing of ``void *`` pointers using capsules
+* Transparent support for returning values wrapped in ``std::unique_ptr<>``
+* Improved docstring generation for compatibility with Sphinx
+* Nicer debug error message when default parameter construction fails
+* Support for "opaque" types that bypass the transparent conversion layer for STL containers
+* Redesigned type casting interface to avoid ambiguities that could occasionally cause compiler errors
+* Redesigned property implementation; fixes crashes due to an unfortunate default return value policy
+* Anaconda package generation support
+
+1.3 (March 8, 2016)
+--------------------------
+
+* Added support for the Intel C++ compiler (v15+)
+* Added support for the STL unordered set/map data structures
+* Added support for the STL linked list data structure
+* NumPy-style broadcasting support in ``pybind11::vectorize``
+* pybind11 now displays more verbose error messages when ``arg::operator=()`` fails
+* pybind11 internal data structures now live in a version-dependent namespace to avoid ABI issues
+* Many, many bugfixes involving corner cases and advanced usage
+
+1.2 (February 7, 2016)
+--------------------------
+
+* Optional: efficient generation of function signatures at compile time using C++14
+* Switched to a simpler and more general way of dealing with function default
+  arguments. Unused keyword arguments in function calls are now detected and
+  cause errors as expected
+* New ``keep_alive`` call policy analogous to Boost.Python's ``with_custodian_and_ward``
+* New ``pybind11::base<>`` attribute to indicate a subclass relationship
+* Improved interface for RAII type wrappers in ``pytypes.h``
+* Use RAII type wrappers consistently within pybind11 itself. This
+  fixes various potential refcount leaks when exceptions occur
+* Added new ``bytes`` RAII type wrapper (maps to ``string`` in Python 2.7)
+* Made handle and related RAII classes const correct, using them more
+  consistently everywhere now
+* Got rid of the ugly ``__pybind11__`` attributes on the Python side---they are
+  now stored in a C++ hash table that is not visible in Python
+* Fixed refcount leaks involving NumPy arrays and bound functions
+* Vastly improved handling of shared/smart pointers
+* Removed an unnecessary copy operation in ``pybind11::vectorize``
+* Fixed naming clashes when both pybind11 and NumPy headers are included
+* Added conversions for additional exception types
+* Documentation improvements (using multiple extension modules, smart pointers,
+  other minor clarifications)
+* unified infrastructure for parsing variadic arguments in ``class_`` and cpp_function
+* Fixed license text (was: ZLIB, should have been: 3-clause BSD)
+* Python 3.2 compatibility
+* Fixed remaining issues when accessing types in another plugin module
+* Added enum comparison and casting methods
+* Improved SFINAE-based detection of whether types are copy-constructible
+* Eliminated many warnings about unused variables and the use of ``offsetof()``
+* Support for ``std::array<>`` conversions
+
+1.1 (December 7, 2015)
+--------------------------
+
+* Documentation improvements (GIL, wrapping functions, casting, fixed many typos)
+* Generalized conversion of integer types
+* Improved support for casting function objects
+* Improved support for ``std::shared_ptr<>`` conversions
+* Initial support for ``std::set<>`` conversions
+* Fixed type resolution issue for types defined in a separate plugin module
+* CMake build system improvements
+* Factored out generic functionality to non-templated code (smaller code size)
+* Added a code size / compile time benchmark vs Boost.Python
+* Added an appveyor CI script
+
+1.0 (October 15, 2015)
+------------------------
+* Initial release
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/classes.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/classes.rst
new file mode 100644
index 0000000..f3610ef
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/classes.rst
@@ -0,0 +1,532 @@
+.. _classes:
+
+Object-oriented code
+####################
+
+Creating bindings for a custom type
+===================================
+
+Let's now look at a more complex example where we'll create bindings for a
+custom C++ data structure named ``Pet``. Its definition is given below:
+
+.. code-block:: cpp
+
+    struct Pet {
+        Pet(const std::string &name) : name(name) { }
+        void setName(const std::string &name_) { name = name_; }
+        const std::string &getName() const { return name; }
+
+        std::string name;
+    };
+
+The binding code for ``Pet`` looks as follows:
+
+.. code-block:: cpp
+
+    #include <pybind11/pybind11.h>
+
+    namespace py = pybind11;
+
+    PYBIND11_MODULE(example, m) {
+        py::class_<Pet>(m, "Pet")
+            .def(py::init<const std::string &>())
+            .def("setName", &Pet::setName)
+            .def("getName", &Pet::getName);
+    }
+
+:class:`class_` creates bindings for a C++ *class* or *struct*-style data
+structure. :func:`init` is a convenience function that takes the types of a
+constructor's parameters as template arguments and wraps the corresponding
+constructor (see the :ref:`custom_constructors` section for details). An
+interactive Python session demonstrating this example is shown below:
+
+.. code-block:: pycon
+
+    % python
+    >>> import example
+    >>> p = example.Pet('Molly')
+    >>> print(p)
+    <example.Pet object at 0x10cd98060>
+    >>> p.getName()
+    u'Molly'
+    >>> p.setName('Charly')
+    >>> p.getName()
+    u'Charly'
+
+.. seealso::
+
+    Static member functions can be bound in the same way using
+    :func:`class_::def_static`.
+
+Keyword and default arguments
+=============================
+It is possible to specify keyword and default arguments using the syntax
+discussed in the previous chapter. Refer to the sections :ref:`keyword_args`
+and :ref:`default_args` for details.
+
+Binding lambda functions
+========================
+
+Note how ``print(p)`` produced a rather useless summary of our data structure in the example above:
+
+.. code-block:: pycon
+
+    >>> print(p)
+    <example.Pet object at 0x10cd98060>
+
+To address this, we could bind a utility function that returns a human-readable
+summary to the special method slot named ``__repr__``. Unfortunately, there is no
+suitable functionality in the ``Pet`` data structure, and it would be nice if
+we did not have to change it. This can easily be accomplished by binding a
+Lambda function instead:
+
+.. code-block:: cpp
+
+        py::class_<Pet>(m, "Pet")
+            .def(py::init<const std::string &>())
+            .def("setName", &Pet::setName)
+            .def("getName", &Pet::getName)
+            .def("__repr__",
+                [](const Pet &a) {
+                    return "<example.Pet named '" + a.name + "'>";
+                }
+            );
+
+Both stateless [#f1]_ and stateful lambda closures are supported by pybind11.
+With the above change, the same Python code now produces the following output:
+
+.. code-block:: pycon
+
+    >>> print(p)
+    <example.Pet named 'Molly'>
+
+.. [#f1] Stateless closures are those with an empty pair of brackets ``[]`` as the capture object.
+
+.. _properties:
+
+Instance and static fields
+==========================
+
+We can also directly expose the ``name`` field using the
+:func:`class_::def_readwrite` method. A similar :func:`class_::def_readonly`
+method also exists for ``const`` fields.
+
+.. code-block:: cpp
+
+        py::class_<Pet>(m, "Pet")
+            .def(py::init<const std::string &>())
+            .def_readwrite("name", &Pet::name)
+            // ... remainder ...
+
+This makes it possible to write
+
+.. code-block:: pycon
+
+    >>> p = example.Pet('Molly')
+    >>> p.name
+    u'Molly'
+    >>> p.name = 'Charly'
+    >>> p.name
+    u'Charly'
+
+Now suppose that ``Pet::name`` was a private internal variable
+that can only be accessed via setters and getters.
+
+.. code-block:: cpp
+
+    class Pet {
+    public:
+        Pet(const std::string &name) : name(name) { }
+        void setName(const std::string &name_) { name = name_; }
+        const std::string &getName() const { return name; }
+    private:
+        std::string name;
+    };
+
+In this case, the method :func:`class_::def_property`
+(:func:`class_::def_property_readonly` for read-only data) can be used to
+provide a field-like interface within Python that will transparently call
+the setter and getter functions:
+
+.. code-block:: cpp
+
+        py::class_<Pet>(m, "Pet")
+            .def(py::init<const std::string &>())
+            .def_property("name", &Pet::getName, &Pet::setName)
+            // ... remainder ...
+
+Write only properties can be defined by passing ``nullptr`` as the
+input for the read function.
+
+.. seealso::
+
+    Similar functions :func:`class_::def_readwrite_static`,
+    :func:`class_::def_readonly_static` :func:`class_::def_property_static`,
+    and :func:`class_::def_property_readonly_static` are provided for binding
+    static variables and properties. Please also see the section on
+    :ref:`static_properties` in the advanced part of the documentation.
+
+Dynamic attributes
+==================
+
+Native Python classes can pick up new attributes dynamically:
+
+.. code-block:: pycon
+
+    >>> class Pet:
+    ...     name = 'Molly'
+    ...
+    >>> p = Pet()
+    >>> p.name = 'Charly'  # overwrite existing
+    >>> p.age = 2  # dynamically add a new attribute
+
+By default, classes exported from C++ do not support this and the only writable
+attributes are the ones explicitly defined using :func:`class_::def_readwrite`
+or :func:`class_::def_property`.
+
+.. code-block:: cpp
+
+    py::class_<Pet>(m, "Pet")
+        .def(py::init<>())
+        .def_readwrite("name", &Pet::name);
+
+Trying to set any other attribute results in an error:
+
+.. code-block:: pycon
+
+    >>> p = example.Pet()
+    >>> p.name = 'Charly'  # OK, attribute defined in C++
+    >>> p.age = 2  # fail
+    AttributeError: 'Pet' object has no attribute 'age'
+
+To enable dynamic attributes for C++ classes, the :class:`py::dynamic_attr` tag
+must be added to the :class:`py::class_` constructor:
+
+.. code-block:: cpp
+
+    py::class_<Pet>(m, "Pet", py::dynamic_attr())
+        .def(py::init<>())
+        .def_readwrite("name", &Pet::name);
+
+Now everything works as expected:
+
+.. code-block:: pycon
+
+    >>> p = example.Pet()
+    >>> p.name = 'Charly'  # OK, overwrite value in C++
+    >>> p.age = 2  # OK, dynamically add a new attribute
+    >>> p.__dict__  # just like a native Python class
+    {'age': 2}
+
+Note that there is a small runtime cost for a class with dynamic attributes.
+Not only because of the addition of a ``__dict__``, but also because of more
+expensive garbage collection tracking which must be activated to resolve
+possible circular references. Native Python classes incur this same cost by
+default, so this is not anything to worry about. By default, pybind11 classes
+are more efficient than native Python classes. Enabling dynamic attributes
+just brings them on par.
+
+.. _inheritance:
+
+Inheritance and automatic downcasting
+=====================================
+
+Suppose now that the example consists of two data structures with an
+inheritance relationship:
+
+.. code-block:: cpp
+
+    struct Pet {
+        Pet(const std::string &name) : name(name) { }
+        std::string name;
+    };
+
+    struct Dog : Pet {
+        Dog(const std::string &name) : Pet(name) { }
+        std::string bark() const { return "woof!"; }
+    };
+
+There are two different ways of indicating a hierarchical relationship to
+pybind11: the first specifies the C++ base class as an extra template
+parameter of the :class:`class_`:
+
+.. code-block:: cpp
+
+    py::class_<Pet>(m, "Pet")
+       .def(py::init<const std::string &>())
+       .def_readwrite("name", &Pet::name);
+
+    // Method 1: template parameter:
+    py::class_<Dog, Pet /* <- specify C++ parent type */>(m, "Dog")
+        .def(py::init<const std::string &>())
+        .def("bark", &Dog::bark);
+
+Alternatively, we can also assign a name to the previously bound ``Pet``
+:class:`class_` object and reference it when binding the ``Dog`` class:
+
+.. code-block:: cpp
+
+    py::class_<Pet> pet(m, "Pet");
+    pet.def(py::init<const std::string &>())
+       .def_readwrite("name", &Pet::name);
+
+    // Method 2: pass parent class_ object:
+    py::class_<Dog>(m, "Dog", pet /* <- specify Python parent type */)
+        .def(py::init<const std::string &>())
+        .def("bark", &Dog::bark);
+
+Functionality-wise, both approaches are equivalent. Afterwards, instances will
+expose fields and methods of both types:
+
+.. code-block:: pycon
+
+    >>> p = example.Dog('Molly')
+    >>> p.name
+    u'Molly'
+    >>> p.bark()
+    u'woof!'
+
+The C++ classes defined above are regular non-polymorphic types with an
+inheritance relationship. This is reflected in Python:
+
+.. code-block:: cpp
+
+    // Return a base pointer to a derived instance
+    m.def("pet_store", []() { return std::unique_ptr<Pet>(new Dog("Molly")); });
+
+.. code-block:: pycon
+
+    >>> p = example.pet_store()
+    >>> type(p)  # `Dog` instance behind `Pet` pointer
+    Pet          # no pointer downcasting for regular non-polymorphic types
+    >>> p.bark()
+    AttributeError: 'Pet' object has no attribute 'bark'
+
+The function returned a ``Dog`` instance, but because it's a non-polymorphic
+type behind a base pointer, Python only sees a ``Pet``. In C++, a type is only
+considered polymorphic if it has at least one virtual function and pybind11
+will automatically recognize this:
+
+.. code-block:: cpp
+
+    struct PolymorphicPet {
+        virtual ~PolymorphicPet() = default;
+    };
+
+    struct PolymorphicDog : PolymorphicPet {
+        std::string bark() const { return "woof!"; }
+    };
+
+    // Same binding code
+    py::class_<PolymorphicPet>(m, "PolymorphicPet");
+    py::class_<PolymorphicDog, PolymorphicPet>(m, "PolymorphicDog")
+        .def(py::init<>())
+        .def("bark", &PolymorphicDog::bark);
+
+    // Again, return a base pointer to a derived instance
+    m.def("pet_store2", []() { return std::unique_ptr<PolymorphicPet>(new PolymorphicDog); });
+
+.. code-block:: pycon
+
+    >>> p = example.pet_store2()
+    >>> type(p)
+    PolymorphicDog  # automatically downcast
+    >>> p.bark()
+    u'woof!'
+
+Given a pointer to a polymorphic base, pybind11 performs automatic downcasting
+to the actual derived type. Note that this goes beyond the usual situation in
+C++: we don't just get access to the virtual functions of the base, we get the
+concrete derived type including functions and attributes that the base type may
+not even be aware of.
+
+.. seealso::
+
+    For more information about polymorphic behavior see :ref:`overriding_virtuals`.
+
+
+Overloaded methods
+==================
+
+Sometimes there are several overloaded C++ methods with the same name taking
+different kinds of input arguments:
+
+.. code-block:: cpp
+
+    struct Pet {
+        Pet(const std::string &name, int age) : name(name), age(age) { }
+
+        void set(int age_) { age = age_; }
+        void set(const std::string &name_) { name = name_; }
+
+        std::string name;
+        int age;
+    };
+
+Attempting to bind ``Pet::set`` will cause an error since the compiler does not
+know which method the user intended to select. We can disambiguate by casting
+them to function pointers. Binding multiple functions to the same Python name
+automatically creates a chain of function overloads that will be tried in
+sequence.
+
+.. code-block:: cpp
+
+    py::class_<Pet>(m, "Pet")
+       .def(py::init<const std::string &, int>())
+       .def("set", static_cast<void (Pet::*)(int)>(&Pet::set), "Set the pet's age")
+       .def("set", static_cast<void (Pet::*)(const std::string &)>(&Pet::set), "Set the pet's name");
+
+The overload signatures are also visible in the method's docstring:
+
+.. code-block:: pycon
+
+    >>> help(example.Pet)
+
+    class Pet(__builtin__.object)
+     |  Methods defined here:
+     |
+     |  __init__(...)
+     |      Signature : (Pet, str, int) -> NoneType
+     |
+     |  set(...)
+     |      1. Signature : (Pet, int) -> NoneType
+     |
+     |      Set the pet's age
+     |
+     |      2. Signature : (Pet, str) -> NoneType
+     |
+     |      Set the pet's name
+
+If you have a C++14 compatible compiler [#cpp14]_, you can use an alternative
+syntax to cast the overloaded function:
+
+.. code-block:: cpp
+
+    py::class_<Pet>(m, "Pet")
+        .def("set", py::overload_cast<int>(&Pet::set), "Set the pet's age")
+        .def("set", py::overload_cast<const std::string &>(&Pet::set), "Set the pet's name");
+
+Here, ``py::overload_cast`` only requires the parameter types to be specified.
+The return type and class are deduced. This avoids the additional noise of
+``void (Pet::*)()`` as seen in the raw cast. If a function is overloaded based
+on constness, the ``py::const_`` tag should be used:
+
+.. code-block:: cpp
+
+    struct Widget {
+        int foo(int x, float y);
+        int foo(int x, float y) const;
+    };
+
+    py::class_<Widget>(m, "Widget")
+       .def("foo_mutable", py::overload_cast<int, float>(&Widget::foo))
+       .def("foo_const",   py::overload_cast<int, float>(&Widget::foo, py::const_));
+
+If you prefer the ``py::overload_cast`` syntax but have a C++11 compatible compiler only,
+you can use ``py::detail::overload_cast_impl`` with an additional set of parentheses:
+
+.. code-block:: cpp
+
+    template <typename... Args>
+    using overload_cast_ = pybind11::detail::overload_cast_impl<Args...>;
+
+    py::class_<Pet>(m, "Pet")
+        .def("set", overload_cast_<int>()(&Pet::set), "Set the pet's age")
+        .def("set", overload_cast_<const std::string &>()(&Pet::set), "Set the pet's name");
+
+.. [#cpp14] A compiler which supports the ``-std=c++14`` flag
+            or Visual Studio 2015 Update 2 and newer.
+
+.. note::
+
+    To define multiple overloaded constructors, simply declare one after the
+    other using the ``.def(py::init<...>())`` syntax. The existing machinery
+    for specifying keyword and default arguments also works.
+
+Enumerations and internal types
+===============================
+
+Let's now suppose that the example class contains an internal enumeration type,
+e.g.:
+
+.. code-block:: cpp
+
+    struct Pet {
+        enum Kind {
+            Dog = 0,
+            Cat
+        };
+
+        Pet(const std::string &name, Kind type) : name(name), type(type) { }
+
+        std::string name;
+        Kind type;
+    };
+
+The binding code for this example looks as follows:
+
+.. code-block:: cpp
+
+    py::class_<Pet> pet(m, "Pet");
+
+    pet.def(py::init<const std::string &, Pet::Kind>())
+        .def_readwrite("name", &Pet::name)
+        .def_readwrite("type", &Pet::type);
+
+    py::enum_<Pet::Kind>(pet, "Kind")
+        .value("Dog", Pet::Kind::Dog)
+        .value("Cat", Pet::Kind::Cat)
+        .export_values();
+
+To ensure that the ``Kind`` type is created within the scope of ``Pet``, the
+``pet`` :class:`class_` instance must be supplied to the :class:`enum_`.
+constructor. The :func:`enum_::export_values` function exports the enum entries
+into the parent scope, which should be skipped for newer C++11-style strongly
+typed enums.
+
+.. code-block:: pycon
+
+    >>> p = Pet('Lucy', Pet.Cat)
+    >>> p.type
+    Kind.Cat
+    >>> int(p.type)
+    1L
+
+The entries defined by the enumeration type are exposed in the ``__members__`` property:
+
+.. code-block:: pycon
+
+    >>> Pet.Kind.__members__
+    {'Dog': Kind.Dog, 'Cat': Kind.Cat}
+
+The ``name`` property returns the name of the enum value as a unicode string.
+
+.. note::
+
+    It is also possible to use ``str(enum)``, however these accomplish different
+    goals. The following shows how these two approaches differ.
+
+    .. code-block:: pycon
+
+        >>> p = Pet( "Lucy", Pet.Cat )
+        >>> pet_type = p.type
+        >>> pet_type
+        Pet.Cat
+        >>> str(pet_type)
+        'Pet.Cat'
+        >>> pet_type.name
+        'Cat'
+
+.. note::
+
+    When the special tag ``py::arithmetic()`` is specified to the ``enum_``
+    constructor, pybind11 creates an enumeration that also supports rudimentary
+    arithmetic and bit-level operations like comparisons, and, or, xor, negation,
+    etc.
+
+    .. code-block:: cpp
+
+        py::enum_<Pet::Kind>(pet, "Kind", py::arithmetic())
+           ...
+
+    By default, these are omitted to conserve space.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/cmake/index.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/cmake/index.rst
new file mode 100644
index 0000000..eaf66d7
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/cmake/index.rst
@@ -0,0 +1,8 @@
+CMake helpers
+-------------
+
+Pybind11 can be used with ``add_subdirectory(extern/pybind11)``, or from an
+install with ``find_package(pybind11 CONFIG)``. The interface provided in
+either case is functionally identical.
+
+.. cmake-module:: ../../tools/pybind11Config.cmake.in
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/compiling.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/compiling.rst
new file mode 100644
index 0000000..3de638c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/compiling.rst
@@ -0,0 +1,593 @@
+.. _compiling:
+
+Build systems
+#############
+
+.. _build-setuptools:
+
+Building with setuptools
+========================
+
+For projects on PyPI, building with setuptools is the way to go. Sylvain Corlay
+has kindly provided an example project which shows how to set up everything,
+including automatic generation of documentation using Sphinx. Please refer to
+the [python_example]_ repository.
+
+.. [python_example] https://github.com/pybind/python_example
+
+A helper file is provided with pybind11 that can simplify usage with setuptools.
+
+To use pybind11 inside your ``setup.py``, you have to have some system to
+ensure that ``pybind11`` is installed when you build your package. There are
+four possible ways to do this, and pybind11 supports all four: You can ask all
+users to install pybind11 beforehand (bad), you can use
+:ref:`setup_helpers-pep518` (good, but very new and requires Pip 10),
+:ref:`setup_helpers-setup_requires` (discouraged by Python packagers now that
+PEP 518 is available, but it still works everywhere), or you can
+:ref:`setup_helpers-copy-manually` (always works but you have to manually sync
+your copy to get updates).
+
+An example of a ``setup.py`` using pybind11's helpers:
+
+.. code-block:: python
+
+    from glob import glob
+    from setuptools import setup
+    from pybind11.setup_helpers import Pybind11Extension
+
+    ext_modules = [
+        Pybind11Extension(
+            "python_example",
+            sorted(glob("src/*.cpp")),  # Sort source files for reproducibility
+        ),
+    ]
+
+    setup(
+        ...,
+        ext_modules=ext_modules
+    )
+
+If you want to do an automatic search for the highest supported C++ standard,
+that is supported via a ``build_ext`` command override; it will only affect
+``Pybind11Extensions``:
+
+.. code-block:: python
+
+    from glob import glob
+    from setuptools import setup
+    from pybind11.setup_helpers import Pybind11Extension, build_ext
+
+    ext_modules = [
+        Pybind11Extension(
+            "python_example",
+            sorted(glob("src/*.cpp")),
+        ),
+    ]
+
+    setup(
+        ...,
+        cmdclass={"build_ext": build_ext},
+        ext_modules=ext_modules
+    )
+
+Since pybind11 does not require NumPy when building, a light-weight replacement
+for NumPy's parallel compilation distutils tool is included. Use it like this:
+
+.. code-block:: python
+
+    from pybind11.setup_helpers import ParallelCompile
+
+    # Optional multithreaded build
+    ParallelCompile("NPY_NUM_BUILD_JOBS").install()
+
+    setup(...)
+
+The argument is the name of an environment variable to control the number of
+threads, such as ``NPY_NUM_BUILD_JOBS`` (as used by NumPy), though you can set
+something different if you want. You can also pass ``default=N`` to set the
+default number of threads (0 will take the number of threads available) and
+``max=N``, the maximum number of threads; if you have a large extension you may
+want set this to a memory dependent number.
+
+.. _setup_helpers-pep518:
+
+PEP 518 requirements (Pip 10+ required)
+---------------------------------------
+
+If you use `PEP 518's <https://www.python.org/dev/peps/pep-0518/>`_
+``pyproject.toml`` file, you can ensure that ``pybind11`` is available during
+the compilation of your project.  When this file exists, Pip will make a new
+virtual environment, download just the packages listed here in ``requires=``,
+and build a wheel (binary Python package). It will then throw away the
+environment, and install your wheel.
+
+Your ``pyproject.toml`` file will likely look something like this:
+
+.. code-block:: toml
+
+    [build-system]
+    requires = ["setuptools", "wheel", "pybind11==2.6.0"]
+    build-backend = "setuptools.build_meta"
+
+.. note::
+
+    The main drawback to this method is that a `PEP 517`_ compliant build tool,
+    such as Pip 10+, is required for this approach to work; older versions of
+    Pip completely ignore this file. If you distribute binaries (called wheels
+    in Python) using something like `cibuildwheel`_, remember that ``setup.py``
+    and ``pyproject.toml`` are not even contained in the wheel, so this high
+    Pip requirement is only for source builds, and will not affect users of
+    your binary wheels.
+
+.. _PEP 517: https://www.python.org/dev/peps/pep-0517/
+.. _cibuildwheel: https://cibuildwheel.readthedocs.io
+
+.. _setup_helpers-setup_requires:
+
+Classic ``setup_requires``
+--------------------------
+
+If you want to support old versions of Pip with the classic
+``setup_requires=["pybind11"]`` keyword argument to setup, which triggers a
+two-phase ``setup.py`` run, then you will need to use something like this to
+ensure the first pass works (which has not yet installed the ``setup_requires``
+packages, since it can't install something it does not know about):
+
+.. code-block:: python
+
+    try:
+        from pybind11.setup_helpers import Pybind11Extension
+    except ImportError:
+        from setuptools import Extension as Pybind11Extension
+
+
+It doesn't matter that the Extension class is not the enhanced subclass for the
+first pass run; and the second pass will have the ``setup_requires``
+requirements.
+
+This is obviously more of a hack than the PEP 518 method, but it supports
+ancient versions of Pip.
+
+.. _setup_helpers-copy-manually:
+
+Copy manually
+-------------
+
+You can also copy ``setup_helpers.py`` directly to your project; it was
+designed to be usable standalone, like the old example ``setup.py``. You can
+set ``include_pybind11=False`` to skip including the pybind11 package headers,
+so you can use it with git submodules and a specific git version. If you use
+this, you will need to import from a local file in ``setup.py`` and ensure the
+helper file is part of your MANIFEST.
+
+
+Closely related, if you include pybind11 as a subproject, you can run the
+``setup_helpers.py`` inplace. If loaded correctly, this should even pick up
+the correct include for pybind11, though you can turn it off as shown above if
+you want to input it manually.
+
+Suggested usage if you have pybind11 as a submodule in ``extern/pybind11``:
+
+.. code-block:: python
+
+    DIR = os.path.abspath(os.path.dirname(__file__))
+
+    sys.path.append(os.path.join(DIR, "extern", "pybind11"))
+    from pybind11.setup_helpers import Pybind11Extension  # noqa: E402
+
+    del sys.path[-1]
+
+
+.. versionchanged:: 2.6
+
+    Added ``setup_helpers`` file.
+
+Building with cppimport
+========================
+
+[cppimport]_ is a small Python import hook that determines whether there is a C++
+source file whose name matches the requested module. If there is, the file is
+compiled as a Python extension using pybind11 and placed in the same folder as
+the C++ source file. Python is then able to find the module and load it.
+
+.. [cppimport] https://github.com/tbenthompson/cppimport
+
+.. _cmake:
+
+Building with CMake
+===================
+
+For C++ codebases that have an existing CMake-based build system, a Python
+extension module can be created with just a few lines of code:
+
+.. code-block:: cmake
+
+    cmake_minimum_required(VERSION 3.4...3.18)
+    project(example LANGUAGES CXX)
+
+    add_subdirectory(pybind11)
+    pybind11_add_module(example example.cpp)
+
+This assumes that the pybind11 repository is located in a subdirectory named
+:file:`pybind11` and that the code is located in a file named :file:`example.cpp`.
+The CMake command ``add_subdirectory`` will import the pybind11 project which
+provides the ``pybind11_add_module`` function. It will take care of all the
+details needed to build a Python extension module on any platform.
+
+A working sample project, including a way to invoke CMake from :file:`setup.py` for
+PyPI integration, can be found in the [cmake_example]_  repository.
+
+.. [cmake_example] https://github.com/pybind/cmake_example
+
+.. versionchanged:: 2.6
+   CMake 3.4+ is required.
+
+Further information can be found at :doc:`cmake/index`.
+
+pybind11_add_module
+-------------------
+
+To ease the creation of Python extension modules, pybind11 provides a CMake
+function with the following signature:
+
+.. code-block:: cmake
+
+    pybind11_add_module(<name> [MODULE | SHARED] [EXCLUDE_FROM_ALL]
+                        [NO_EXTRAS] [THIN_LTO] [OPT_SIZE] source1 [source2 ...])
+
+This function behaves very much like CMake's builtin ``add_library`` (in fact,
+it's a wrapper function around that command). It will add a library target
+called ``<name>`` to be built from the listed source files. In addition, it
+will take care of all the Python-specific compiler and linker flags as well
+as the OS- and Python-version-specific file extension. The produced target
+``<name>`` can be further manipulated with regular CMake commands.
+
+``MODULE`` or ``SHARED`` may be given to specify the type of library. If no
+type is given, ``MODULE`` is used by default which ensures the creation of a
+Python-exclusive module. Specifying ``SHARED`` will create a more traditional
+dynamic library which can also be linked from elsewhere. ``EXCLUDE_FROM_ALL``
+removes this target from the default build (see CMake docs for details).
+
+Since pybind11 is a template library, ``pybind11_add_module`` adds compiler
+flags to ensure high quality code generation without bloat arising from long
+symbol names and duplication of code in different translation units. It
+sets default visibility to *hidden*, which is required for some pybind11
+features and functionality when attempting to load multiple pybind11 modules
+compiled under different pybind11 versions.  It also adds additional flags
+enabling LTO (Link Time Optimization) and strip unneeded symbols. See the
+:ref:`FAQ entry <faq:symhidden>` for a more detailed explanation. These
+latter optimizations are never applied in ``Debug`` mode.  If ``NO_EXTRAS`` is
+given, they will always be disabled, even in ``Release`` mode. However, this
+will result in code bloat and is generally not recommended.
+
+As stated above, LTO is enabled by default. Some newer compilers also support
+different flavors of LTO such as `ThinLTO`_. Setting ``THIN_LTO`` will cause
+the function to prefer this flavor if available. The function falls back to
+regular LTO if ``-flto=thin`` is not available. If
+``CMAKE_INTERPROCEDURAL_OPTIMIZATION`` is set (either ON or OFF), then that
+will be respected instead of the built-in flag search.
+
+The ``OPT_SIZE`` flag enables size-based optimization equivalent to the
+standard ``/Os`` or ``-Os`` compiler flags and the ``MinSizeRel`` build type,
+which avoid optimizations that that can substantially increase the size of the
+resulting binary. This flag is particularly useful in projects that are split
+into performance-critical parts and associated bindings. In this case, we can
+compile the project in release mode (and hence, optimize performance globally),
+and specify ``OPT_SIZE`` for the binding target, where size might be the main
+concern as performance is often less critical here. A ~25% size reduction has
+been observed in practice. This flag only changes the optimization behavior at
+a per-target level and takes precedence over the global CMake build type
+(``Release``, ``RelWithDebInfo``) except for ``Debug`` builds, where
+optimizations remain disabled.
+
+.. _ThinLTO: http://clang.llvm.org/docs/ThinLTO.html
+
+Configuration variables
+-----------------------
+
+By default, pybind11 will compile modules with the compiler default or the
+minimum standard required by pybind11, whichever is higher.  You can set the
+standard explicitly with
+`CMAKE_CXX_STANDARD <https://cmake.org/cmake/help/latest/variable/CMAKE_CXX_STANDARD.html>`_:
+
+.. code-block:: cmake
+
+    set(CMAKE_CXX_STANDARD 14 CACHE STRING "C++ version selection")  # or 11, 14, 17, 20
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)  # optional, ensure standard is supported
+    set(CMAKE_CXX_EXTENSIONS OFF)  # optional, keep compiler extensionsn off
+
+The variables can also be set when calling CMake from the command line using
+the ``-D<variable>=<value>`` flag. You can also manually set ``CXX_STANDARD``
+on a target or use ``target_compile_features`` on your targets - anything that
+CMake supports.
+
+Classic Python support: The target Python version can be selected by setting
+``PYBIND11_PYTHON_VERSION`` or an exact Python installation can be specified
+with ``PYTHON_EXECUTABLE``.  For example:
+
+.. code-block:: bash
+
+    cmake -DPYBIND11_PYTHON_VERSION=3.6 ..
+
+    # Another method:
+    cmake -DPYTHON_EXECUTABLE=/path/to/python ..
+
+    # This often is a good way to get the current Python, works in environments:
+    cmake -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)") ..
+
+
+find_package vs. add_subdirectory
+---------------------------------
+
+For CMake-based projects that don't include the pybind11 repository internally,
+an external installation can be detected through ``find_package(pybind11)``.
+See the `Config file`_ docstring for details of relevant CMake variables.
+
+.. code-block:: cmake
+
+    cmake_minimum_required(VERSION 3.4...3.18)
+    project(example LANGUAGES CXX)
+
+    find_package(pybind11 REQUIRED)
+    pybind11_add_module(example example.cpp)
+
+Note that ``find_package(pybind11)`` will only work correctly if pybind11
+has been correctly installed on the system, e. g. after downloading or cloning
+the pybind11 repository  :
+
+.. code-block:: bash
+
+    # Classic CMake
+    cd pybind11
+    mkdir build
+    cd build
+    cmake ..
+    make install
+
+    # CMake 3.15+
+    cd pybind11
+    cmake -S . -B build
+    cmake --build build -j 2  # Build on 2 cores
+    cmake --install build
+
+Once detected, the aforementioned ``pybind11_add_module`` can be employed as
+before. The function usage and configuration variables are identical no matter
+if pybind11 is added as a subdirectory or found as an installed package. You
+can refer to the same [cmake_example]_ repository for a full sample project
+-- just swap out ``add_subdirectory`` for ``find_package``.
+
+.. _Config file: https://github.com/pybind/pybind11/blob/master/tools/pybind11Config.cmake.in
+
+
+.. _find-python-mode:
+
+FindPython mode
+---------------
+
+CMake 3.12+ (3.15+ recommended) added a new module called FindPython that had a
+highly improved search algorithm and modern targets and tools. If you use
+FindPython, pybind11 will detect this and use the existing targets instead:
+
+.. code-block:: cmake
+
+    cmake_minumum_required(VERSION 3.15...3.18)
+    project(example LANGUAGES CXX)
+
+    find_package(Python COMPONENTS Interpreter Development REQUIRED)
+    find_package(pybind11 CONFIG REQUIRED)
+    # or add_subdirectory(pybind11)
+
+    pybind11_add_module(example example.cpp)
+
+You can also use the targets (as listed below) with FindPython. If you define
+``PYBIND11_FINDPYTHON``, pybind11 will perform the FindPython step for you
+(mostly useful when building pybind11's own tests, or as a way to change search
+algorithms from the CMake invocation, with ``-DPYBIND11_FINDPYTHON=ON``.
+
+.. warning::
+
+    If you use FindPython2 and FindPython3 to dual-target Python, use the
+    individual targets listed below, and avoid targets that directly include
+    Python parts.
+
+There are `many ways to hint or force a discovery of a specific Python
+installation <https://cmake.org/cmake/help/latest/module/FindPython.html>`_),
+setting ``Python_ROOT_DIR`` may be the most common one (though with
+virtualenv/venv support, and Conda support, this tends to find the correct
+Python version more often than the old system did).
+
+.. versionadded:: 2.6
+
+Advanced: interface library targets
+-----------------------------------
+
+Pybind11 supports modern CMake usage patterns with a set of interface targets,
+available in all modes. The targets provided are:
+
+   ``pybind11::headers``
+     Just the pybind11 headers and minimum compile requirements
+
+   ``pybind11::python2_no_register``
+     Quiets the warning/error when mixing C++14 or higher and Python 2
+
+   ``pybind11::pybind11``
+     Python headers + ``pybind11::headers`` + ``pybind11::python2_no_register`` (Python 2 only)
+
+   ``pybind11::python_link_helper``
+     Just the "linking" part of pybind11:module
+
+   ``pybind11::module``
+     Everything for extension modules - ``pybind11::pybind11`` + ``Python::Module`` (FindPython CMake 3.15+) or ``pybind11::python_link_helper``
+
+   ``pybind11::embed``
+     Everything for embedding the Python interpreter - ``pybind11::pybind11`` + ``Python::Embed`` (FindPython) or Python libs
+
+   ``pybind11::lto`` / ``pybind11::thin_lto``
+     An alternative to `INTERPROCEDURAL_OPTIMIZATION` for adding link-time optimization.
+
+   ``pybind11::windows_extras``
+     ``/bigobj`` and ``/mp`` for MSVC.
+
+   ``pybind11::opt_size``
+     ``/Os`` for MSVC, ``-Os`` for other compilers. Does nothing for debug builds.
+
+Two helper functions are also provided:
+
+    ``pybind11_strip(target)``
+      Strips a target (uses ``CMAKE_STRIP`` after the target is built)
+
+    ``pybind11_extension(target)``
+      Sets the correct extension (with SOABI) for a target.
+
+You can use these targets to build complex applications. For example, the
+``add_python_module`` function is identical to:
+
+.. code-block:: cmake
+
+    cmake_minimum_required(VERSION 3.4)
+    project(example LANGUAGES CXX)
+
+    find_package(pybind11 REQUIRED)  # or add_subdirectory(pybind11)
+
+    add_library(example MODULE main.cpp)
+
+    target_link_libraries(example PRIVATE pybind11::module pybind11::lto pybind11::windows_extras)
+
+    pybind11_extension(example)
+    pybind11_strip(example)
+
+    set_target_properties(example PROPERTIES CXX_VISIBILITY_PRESET "hidden"
+                                             CUDA_VISIBILITY_PRESET "hidden")
+
+Instead of setting properties, you can set ``CMAKE_*`` variables to initialize these correctly.
+
+.. warning::
+
+    Since pybind11 is a metatemplate library, it is crucial that certain
+    compiler flags are provided to ensure high quality code generation. In
+    contrast to the ``pybind11_add_module()`` command, the CMake interface
+    provides a *composable* set of targets to ensure that you retain flexibility.
+    It can be expecially important to provide or set these properties; the
+    :ref:`FAQ <faq:symhidden>` contains an explanation on why these are needed.
+
+.. versionadded:: 2.6
+
+.. _nopython-mode:
+
+Advanced: NOPYTHON mode
+-----------------------
+
+If you want complete control, you can set ``PYBIND11_NOPYTHON`` to completely
+disable Python integration (this also happens if you run ``FindPython2`` and
+``FindPython3`` without running ``FindPython``). This gives you complete
+freedom to integrate into an existing system (like `Scikit-Build's
+<https://scikit-build.readthedocs.io>`_ ``PythonExtensions``).
+``pybind11_add_module`` and ``pybind11_extension`` will be unavailable, and the
+targets will be missing any Python specific behavior.
+
+.. versionadded:: 2.6
+
+Embedding the Python interpreter
+--------------------------------
+
+In addition to extension modules, pybind11 also supports embedding Python into
+a C++ executable or library. In CMake, simply link with the ``pybind11::embed``
+target. It provides everything needed to get the interpreter running. The Python
+headers and libraries are attached to the target. Unlike ``pybind11::module``,
+there is no need to manually set any additional properties here. For more
+information about usage in C++, see :doc:`/advanced/embedding`.
+
+.. code-block:: cmake
+
+    cmake_minimum_required(VERSION 3.4...3.18)
+    project(example LANGUAGES CXX)
+
+    find_package(pybind11 REQUIRED)  # or add_subdirectory(pybind11)
+
+    add_executable(example main.cpp)
+    target_link_libraries(example PRIVATE pybind11::embed)
+
+.. _building_manually:
+
+Building manually
+=================
+
+pybind11 is a header-only library, hence it is not necessary to link against
+any special libraries and there are no intermediate (magic) translation steps.
+
+On Linux, you can compile an example such as the one given in
+:ref:`simple_example` using the following command:
+
+.. code-block:: bash
+
+    $ c++ -O3 -Wall -shared -std=c++11 -fPIC `python3 -m pybind11 --includes` example.cpp -o example`python3-config --extension-suffix`
+
+The flags given here assume that you're using Python 3. For Python 2, just
+change the executable appropriately (to ``python`` or ``python2``).
+
+The ``python3 -m pybind11 --includes`` command fetches the include paths for
+both pybind11 and Python headers. This assumes that pybind11 has been installed
+using ``pip`` or ``conda``. If it hasn't, you can also manually specify
+``-I <path-to-pybind11>/include`` together with the Python includes path
+``python3-config --includes``.
+
+Note that Python 2.7 modules don't use a special suffix, so you should simply
+use ``example.so`` instead of ``example`python3-config --extension-suffix```.
+Besides, the ``--extension-suffix`` option may or may not be available, depending
+on the distribution; in the latter case, the module extension can be manually
+set to ``.so``.
+
+On macOS: the build command is almost the same but it also requires passing
+the ``-undefined dynamic_lookup`` flag so as to ignore missing symbols when
+building the module:
+
+.. code-block:: bash
+
+    $ c++ -O3 -Wall -shared -std=c++11 -undefined dynamic_lookup `python3 -m pybind11 --includes` example.cpp -o example`python3-config --extension-suffix`
+
+In general, it is advisable to include several additional build parameters
+that can considerably reduce the size of the created binary. Refer to section
+:ref:`cmake` for a detailed example of a suitable cross-platform CMake-based
+build system that works on all platforms including Windows.
+
+.. note::
+
+    On Linux and macOS, it's better to (intentionally) not link against
+    ``libpython``. The symbols will be resolved when the extension library
+    is loaded into a Python binary. This is preferable because you might
+    have several different installations of a given Python version (e.g. the
+    system-provided Python, and one that ships with a piece of commercial
+    software). In this way, the plugin will work with both versions, instead
+    of possibly importing a second Python library into a process that already
+    contains one (which will lead to a segfault).
+
+
+Building with Bazel
+===================
+
+You can build with the Bazel build system using the `pybind11_bazel
+<https://github.com/pybind/pybind11_bazel>`_ repository.
+
+Generating binding code automatically
+=====================================
+
+The ``Binder`` project is a tool for automatic generation of pybind11 binding
+code by introspecting existing C++ codebases using LLVM/Clang. See the
+[binder]_ documentation for details.
+
+.. [binder] http://cppbinder.readthedocs.io/en/latest/about.html
+
+[AutoWIG]_ is a Python library that wraps automatically compiled libraries into
+high-level languages. It parses C++ code using LLVM/Clang technologies and
+generates the wrappers using the Mako templating engine. The approach is automatic,
+extensible, and applies to very complex C++ libraries, composed of thousands of
+classes or incorporating modern meta-programming constructs.
+
+.. [AutoWIG] https://github.com/StatisKit/AutoWIG
+
+[robotpy-build]_ is a is a pure python, cross platform build tool that aims to
+simplify creation of python wheels for pybind11 projects, and provide
+cross-project dependency management. Additionally, it is able to autogenerate
+customizable pybind11-based wrappers by parsing C++ header files.
+
+.. [robotpy-build] https://robotpy-build.readthedocs.io
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/conf.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/conf.py
new file mode 100644
index 0000000..831cf6f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/conf.py
@@ -0,0 +1,339 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# pybind11 documentation build configuration file, created by
+# sphinx-quickstart on Sun Oct 11 19:23:48 2015.
+#
+# This file is execfile()d with the current directory set to its
+# containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+import sys
+import os
+import shlex
+import subprocess
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#sys.path.insert(0, os.path.abspath('.'))
+
+# -- General configuration ------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = ['breathe', 'sphinxcontrib.rsvgconverter', 'sphinxcontrib.moderncmakedomain']
+
+breathe_projects = {'pybind11': '.build/doxygenxml/'}
+breathe_default_project = 'pybind11'
+breathe_domain_by_extension = {'h': 'cpp'}
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['.templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The encoding of source files.
+#source_encoding = 'utf-8-sig'
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = 'pybind11'
+copyright = '2017, Wenzel Jakob'
+author = 'Wenzel Jakob'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+
+# Read the listed version
+with open("../pybind11/_version.py") as f:
+    code = compile(f.read(), "../pybind11/_version.py", "exec")
+loc = {}
+exec(code, loc)
+
+# The full version, including alpha/beta/rc tags.
+version = loc["__version__"]
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# There are two options for replacing |today|: either, you set today to some
+# non-false value, then it is used:
+#today = ''
+# Else, today_fmt is used as the format for a strftime call.
+#today_fmt = '%B %d, %Y'
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+exclude_patterns = ['.build', 'release.rst']
+
+# The reST default role (used for this markup: `text`) to use for all
+# documents.
+default_role = 'any'
+
+# If true, '()' will be appended to :func: etc. cross-reference text.
+#add_function_parentheses = True
+
+# If true, the current module name will be prepended to all description
+# unit titles (such as .. function::).
+#add_module_names = True
+
+# If true, sectionauthor and moduleauthor directives will be shown in the
+# output. They are ignored by default.
+#show_authors = False
+
+# The name of the Pygments (syntax highlighting) style to use.
+#pygments_style = 'monokai'
+
+# A list of ignored prefixes for module index sorting.
+#modindex_common_prefix = []
+
+# If true, keep warnings as "system message" paragraphs in the built documents.
+#keep_warnings = False
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = False
+
+
+# -- Options for HTML output ----------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+
+on_rtd = os.environ.get('READTHEDOCS', None) == 'True'
+
+if not on_rtd:  # only import and set the theme if we're building docs locally
+    import sphinx_rtd_theme
+    html_theme = 'sphinx_rtd_theme'
+    html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
+
+    html_context = {
+        'css_files': [
+            '_static/theme_overrides.css'
+        ]
+    }
+else:
+    html_context = {
+        'css_files': [
+            '//media.readthedocs.org/css/sphinx_rtd_theme.css',
+            '//media.readthedocs.org/css/readthedocs-doc-embed.css',
+            '_static/theme_overrides.css'
+        ]
+    }
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#html_theme_options = {}
+
+# Add any paths that contain custom themes here, relative to this directory.
+#html_theme_path = []
+
+# The name for this set of Sphinx documents.  If None, it defaults to
+# "<project> v<version> documentation".
+#html_title = None
+
+# A shorter title for the navigation bar.  Default is the same as html_title.
+#html_short_title = None
+
+# The name of an image file (relative to this directory) to place at the top
+# of the sidebar.
+#html_logo = None
+
+# The name of an image file (within the static path) to use as favicon of the
+# docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
+# pixels large.
+#html_favicon = None
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# Add any extra paths that contain custom files (such as robots.txt or
+# .htaccess) here, relative to this directory. These files are copied
+# directly to the root of the documentation.
+#html_extra_path = []
+
+# If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
+# using the given strftime format.
+#html_last_updated_fmt = '%b %d, %Y'
+
+# If true, SmartyPants will be used to convert quotes and dashes to
+# typographically correct entities.
+#html_use_smartypants = True
+
+# Custom sidebar templates, maps document names to template names.
+#html_sidebars = {}
+
+# Additional templates that should be rendered to pages, maps page names to
+# template names.
+#html_additional_pages = {}
+
+# If false, no module index is generated.
+#html_domain_indices = True
+
+# If false, no index is generated.
+#html_use_index = True
+
+# If true, the index is split into individual pages for each letter.
+#html_split_index = False
+
+# If true, links to the reST sources are added to the pages.
+#html_show_sourcelink = True
+
+# If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
+#html_show_sphinx = True
+
+# If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
+#html_show_copyright = True
+
+# If true, an OpenSearch description file will be output, and all pages will
+# contain a <link> tag referring to it.  The value of this option must be the
+# base URL from which the finished HTML is served.
+#html_use_opensearch = ''
+
+# This is the file name suffix for HTML files (e.g. ".xhtml").
+#html_file_suffix = None
+
+# Language to be used for generating the HTML full-text search index.
+# Sphinx supports the following languages:
+#   'da', 'de', 'en', 'es', 'fi', 'fr', 'h', 'it', 'ja'
+#   'nl', 'no', 'pt', 'ro', 'r', 'sv', 'tr'
+#html_search_language = 'en'
+
+# A dictionary with options for the search language support, empty by default.
+# Now only 'ja' uses this config value
+#html_search_options = {'type': 'default'}
+
+# The name of a javascript file (relative to the configuration directory) that
+# implements a search results scorer. If empty, the default will be used.
+#html_search_scorer = 'scorer.js'
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'pybind11doc'
+
+# -- Options for LaTeX output ---------------------------------------------
+
+latex_elements = {
+# The paper size ('letterpaper' or 'a4paper').
+#'papersize': 'letterpaper',
+
+# The font size ('10pt', '11pt' or '12pt').
+#'pointsize': '10pt',
+
+# Additional stuff for the LaTeX preamble.
+'preamble': r'''
+\DeclareUnicodeCharacter{00A0}{}
+\DeclareUnicodeCharacter{2194}{<->}
+''',
+
+# Latex figure (float) alignment
+#'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+  (master_doc, 'pybind11.tex', 'pybind11 Documentation',
+   'Wenzel Jakob', 'manual'),
+]
+
+# The name of an image file (relative to this directory) to place at the top of
+# the title page.
+# latex_logo = 'pybind11-logo.png'
+
+# For "manual" documents, if this is true, then toplevel headings are parts,
+# not chapters.
+#latex_use_parts = False
+
+# If true, show page references after internal links.
+#latex_show_pagerefs = False
+
+# If true, show URL addresses after external links.
+#latex_show_urls = False
+
+# Documents to append as an appendix to all manuals.
+#latex_appendices = []
+
+# If false, no module index is generated.
+#latex_domain_indices = True
+
+
+# -- Options for manual page output ---------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'pybind11', 'pybind11 Documentation',
+     [author], 1)
+]
+
+# If true, show URL addresses after external links.
+#man_show_urls = False
+
+
+# -- Options for Texinfo output -------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+  (master_doc, 'pybind11', 'pybind11 Documentation',
+   author, 'pybind11', 'One line description of project.',
+   'Miscellaneous'),
+]
+
+# Documents to append as an appendix to all manuals.
+#texinfo_appendices = []
+
+# If false, no module index is generated.
+#texinfo_domain_indices = True
+
+# How to display URL addresses: 'footnote', 'no', or 'inline'.
+#texinfo_show_urls = 'footnote'
+
+# If true, do not generate a @detailmenu in the "Top" node's menu.
+#texinfo_no_detailmenu = False
+
+primary_domain = 'cpp'
+highlight_language = 'cpp'
+
+
+def generate_doxygen_xml(app):
+    build_dir = os.path.join(app.confdir, '.build')
+    if not os.path.exists(build_dir):
+        os.mkdir(build_dir)
+
+    try:
+        subprocess.call(['doxygen', '--version'])
+        retcode = subprocess.call(['doxygen'], cwd=app.confdir)
+        if retcode < 0:
+            sys.stderr.write("doxygen error code: {}\n".format(-retcode))
+    except OSError as e:
+        sys.stderr.write("doxygen execution failed: {}\n".format(e))
+
+
+def setup(app):
+    """Add hook for building doxygen xml when needed"""
+    app.connect("builder-inited", generate_doxygen_xml)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/faq.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/faq.rst
new file mode 100644
index 0000000..8bf05a4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/faq.rst
@@ -0,0 +1,343 @@
+Frequently asked questions
+##########################
+
+"ImportError: dynamic module does not define init function"
+===========================================================
+
+1. Make sure that the name specified in PYBIND11_MODULE is identical to the
+filename of the extension library (without suffixes such as .so)
+
+2. If the above did not fix the issue, you are likely using an incompatible
+version of Python (for instance, the extension library was compiled against
+Python 2, while the interpreter is running on top of some version of Python
+3, or vice versa).
+
+"Symbol not found: ``__Py_ZeroStruct`` / ``_PyInstanceMethod_Type``"
+========================================================================
+
+See the first answer.
+
+"SystemError: dynamic module not initialized properly"
+======================================================
+
+See the first answer.
+
+The Python interpreter immediately crashes when importing my module
+===================================================================
+
+See the first answer.
+
+.. _faq_reference_arguments:
+
+Limitations involving reference arguments
+=========================================
+
+In C++, it's fairly common to pass arguments using mutable references or
+mutable pointers, which allows both read and write access to the value
+supplied by the caller. This is sometimes done for efficiency reasons, or to
+realize functions that have multiple return values. Here are two very basic
+examples:
+
+.. code-block:: cpp
+
+    void increment(int &i) { i++; }
+    void increment_ptr(int *i) { (*i)++; }
+
+In Python, all arguments are passed by reference, so there is no general
+issue in binding such code from Python.
+
+However, certain basic Python types (like ``str``, ``int``, ``bool``,
+``float``, etc.) are **immutable**. This means that the following attempt
+to port the function to Python doesn't have the same effect on the value
+provided by the caller -- in fact, it does nothing at all.
+
+.. code-block:: python
+
+    def increment(i):
+        i += 1 # nope..
+
+pybind11 is also affected by such language-level conventions, which means that
+binding ``increment`` or ``increment_ptr`` will also create Python functions
+that don't modify their arguments.
+
+Although inconvenient, one workaround is to encapsulate the immutable types in
+a custom type that does allow modifications.
+
+An other alternative involves binding a small wrapper lambda function that
+returns a tuple with all output arguments (see the remainder of the
+documentation for examples on binding lambda functions). An example:
+
+.. code-block:: cpp
+
+    int foo(int &i) { i++; return 123; }
+
+and the binding code
+
+.. code-block:: cpp
+
+   m.def("foo", [](int i) { int rv = foo(i); return std::make_tuple(rv, i); });
+
+
+How can I reduce the build time?
+================================
+
+It's good practice to split binding code over multiple files, as in the
+following example:
+
+:file:`example.cpp`:
+
+.. code-block:: cpp
+
+    void init_ex1(py::module_ &);
+    void init_ex2(py::module_ &);
+    /* ... */
+
+    PYBIND11_MODULE(example, m) {
+        init_ex1(m);
+        init_ex2(m);
+        /* ... */
+    }
+
+:file:`ex1.cpp`:
+
+.. code-block:: cpp
+
+    void init_ex1(py::module_ &m) {
+        m.def("add", [](int a, int b) { return a + b; });
+    }
+
+:file:`ex2.cpp`:
+
+.. code-block:: cpp
+
+    void init_ex2(py::module_ &m) {
+        m.def("sub", [](int a, int b) { return a - b; });
+    }
+
+:command:`python`:
+
+.. code-block:: pycon
+
+    >>> import example
+    >>> example.add(1, 2)
+    3
+    >>> example.sub(1, 1)
+    0
+
+As shown above, the various ``init_ex`` functions should be contained in
+separate files that can be compiled independently from one another, and then
+linked together into the same final shared object.  Following this approach
+will:
+
+1. reduce memory requirements per compilation unit.
+
+2. enable parallel builds (if desired).
+
+3. allow for faster incremental builds. For instance, when a single class
+   definition is changed, only a subset of the binding code will generally need
+   to be recompiled.
+
+"recursive template instantiation exceeded maximum depth of 256"
+================================================================
+
+If you receive an error about excessive recursive template evaluation, try
+specifying a larger value, e.g. ``-ftemplate-depth=1024`` on GCC/Clang. The
+culprit is generally the generation of function signatures at compile time
+using C++14 template metaprogramming.
+
+.. _`faq:hidden_visibility`:
+
+"‘SomeClass’ declared with greater visibility than the type of its field ‘SomeClass::member’ [-Wattributes]"
+============================================================================================================
+
+This error typically indicates that you are compiling without the required
+``-fvisibility`` flag.  pybind11 code internally forces hidden visibility on
+all internal code, but if non-hidden (and thus *exported*) code attempts to
+include a pybind type (for example, ``py::object`` or ``py::list``) you can run
+into this warning.
+
+To avoid it, make sure you are specifying ``-fvisibility=hidden`` when
+compiling pybind code.
+
+As to why ``-fvisibility=hidden`` is necessary, because pybind modules could
+have been compiled under different versions of pybind itself, it is also
+important that the symbols defined in one module do not clash with the
+potentially-incompatible symbols defined in another.  While Python extension
+modules are usually loaded with localized symbols (under POSIX systems
+typically using ``dlopen`` with the ``RTLD_LOCAL`` flag), this Python default
+can be changed, but even if it isn't it is not always enough to guarantee
+complete independence of the symbols involved when not using
+``-fvisibility=hidden``.
+
+Additionally, ``-fvisiblity=hidden`` can deliver considerably binary size
+savings.  (See the following section for more details).
+
+
+.. _`faq:symhidden`:
+
+How can I create smaller binaries?
+==================================
+
+To do its job, pybind11 extensively relies on a programming technique known as
+*template metaprogramming*, which is a way of performing computation at compile
+time using type information. Template metaprogamming usually instantiates code
+involving significant numbers of deeply nested types that are either completely
+removed or reduced to just a few instructions during the compiler's optimization
+phase. However, due to the nested nature of these types, the resulting symbol
+names in the compiled extension library can be extremely long. For instance,
+the included test suite contains the following symbol:
+
+.. only:: html
+
+    .. code-block:: none
+
+        _​_​Z​N​8​p​y​b​i​n​d​1​1​1​2​c​p​p​_​f​u​n​c​t​i​o​n​C​1​I​v​8​E​x​a​m​p​l​e​2​J​R​N​S​t​3​_​_​1​6​v​e​c​t​o​r​I​N​S​3​_​1​2​b​a​s​i​c​_​s​t​r​i​n​g​I​w​N​S​3​_​1​1​c​h​a​r​_​t​r​a​i​t​s​I​w​E​E​N​S​3​_​9​a​l​l​o​c​a​t​o​r​I​w​E​E​E​E​N​S​8​_​I​S​A​_​E​E​E​E​E​J​N​S​_​4​n​a​m​e​E​N​S​_​7​s​i​b​l​i​n​g​E​N​S​_​9​i​s​_​m​e​t​h​o​d​E​A​2​8​_​c​E​E​E​M​T​0​_​F​T​_​D​p​T​1​_​E​D​p​R​K​T​2​_
+
+.. only:: not html
+
+    .. code-block:: cpp
+
+        __ZN8pybind1112cpp_functionC1Iv8Example2JRNSt3__16vectorINS3_12basic_stringIwNS3_11char_traitsIwEENS3_9allocatorIwEEEENS8_ISA_EEEEEJNS_4nameENS_7siblingENS_9is_methodEA28_cEEEMT0_FT_DpT1_EDpRKT2_
+
+which is the mangled form of the following function type:
+
+.. code-block:: cpp
+
+    pybind11::cpp_function::cpp_function<void, Example2, std::__1::vector<std::__1::basic_string<wchar_t, std::__1::char_traits<wchar_t>, std::__1::allocator<wchar_t> >, std::__1::allocator<std::__1::basic_string<wchar_t, std::__1::char_traits<wchar_t>, std::__1::allocator<wchar_t> > > >&, pybind11::name, pybind11::sibling, pybind11::is_method, char [28]>(void (Example2::*)(std::__1::vector<std::__1::basic_string<wchar_t, std::__1::char_traits<wchar_t>, std::__1::allocator<wchar_t> >, std::__1::allocator<std::__1::basic_string<wchar_t, std::__1::char_traits<wchar_t>, std::__1::allocator<wchar_t> > > >&), pybind11::name const&, pybind11::sibling const&, pybind11::is_method const&, char const (&) [28])
+
+The memory needed to store just the mangled name of this function (196 bytes)
+is larger than the actual piece of code (111 bytes) it represents! On the other
+hand, it's silly to even give this function a name -- after all, it's just a
+tiny cog in a bigger piece of machinery that is not exposed to the outside
+world. So we'll generally only want to export symbols for those functions which
+are actually called from the outside.
+
+This can be achieved by specifying the parameter ``-fvisibility=hidden`` to GCC
+and Clang, which sets the default symbol visibility to *hidden*, which has a
+tremendous impact on the final binary size of the resulting extension library.
+(On Visual Studio, symbols are already hidden by default, so nothing needs to
+be done there.)
+
+In addition to decreasing binary size, ``-fvisibility=hidden`` also avoids
+potential serious issues when loading multiple modules and is required for
+proper pybind operation.  See the previous FAQ entry for more details.
+
+Working with ancient Visual Studio 2008 builds on Windows
+=========================================================
+
+The official Windows distributions of Python are compiled using truly
+ancient versions of Visual Studio that lack good C++11 support. Some users
+implicitly assume that it would be impossible to load a plugin built with
+Visual Studio 2015 into a Python distribution that was compiled using Visual
+Studio 2008. However, no such issue exists: it's perfectly legitimate to
+interface DLLs that are built with different compilers and/or C libraries.
+Common gotchas to watch out for involve not ``free()``-ing memory region
+that that were ``malloc()``-ed in another shared library, using data
+structures with incompatible ABIs, and so on. pybind11 is very careful not
+to make these types of mistakes.
+
+How can I properly handle Ctrl-C in long-running functions?
+===========================================================
+
+Ctrl-C is received by the Python interpreter, and holds it until the GIL
+is released, so a long-running function won't be interrupted.
+
+To interrupt from inside your function, you can use the ``PyErr_CheckSignals()``
+function, that will tell if a signal has been raised on the Python side.  This
+function merely checks a flag, so its impact is negligible. When a signal has
+been received, you must either explicitly interrupt execution by throwing
+``py::error_already_set`` (which will propagate the existing
+``KeyboardInterrupt``), or clear the error (which you usually will not want):
+
+.. code-block:: cpp
+
+    PYBIND11_MODULE(example, m)
+    {
+        m.def("long running_func", []()
+        {
+            for (;;) {
+                if (PyErr_CheckSignals() != 0)
+                    throw py::error_already_set();
+                // Long running iteration
+            }
+        });
+    }
+
+CMake doesn't detect the right Python version
+=============================================
+
+The CMake-based build system will try to automatically detect the installed
+version of Python and link against that. When this fails, or when there are
+multiple versions of Python and it finds the wrong one, delete
+``CMakeCache.txt`` and then add ``-DPYTHON_EXECUTABLE=$(which python)`` to your
+CMake configure line. (Replace ``$(which python)`` with a path to python if
+your prefer.)
+
+You can alternatively try ``-DPYBIND11_FINDPYTHON=ON``, which will activate the
+new CMake FindPython support instead of pybind11's custom search. Requires
+CMake 3.12+, and 3.15+ or 3.18.2+ are even better. You can set this in your
+``CMakeLists.txt`` before adding or finding pybind11, as well.
+
+Inconsistent detection of Python version in CMake and pybind11
+==============================================================
+
+The functions ``find_package(PythonInterp)`` and ``find_package(PythonLibs)``
+provided by CMake for Python version detection are modified by pybind11 due to
+unreliability and limitations that make them unsuitable for pybind11's needs.
+Instead pybind11 provides its own, more reliable Python detection CMake code.
+Conflicts can arise, however, when using pybind11 in a project that *also* uses
+the CMake Python detection in a system with several Python versions installed.
+
+This difference may cause inconsistencies and errors if *both* mechanisms are
+used in the same project. Consider the following CMake code executed in a
+system with Python 2.7 and 3.x installed:
+
+.. code-block:: cmake
+
+    find_package(PythonInterp)
+    find_package(PythonLibs)
+    find_package(pybind11)
+
+It will detect Python 2.7 and pybind11 will pick it as well.
+
+In contrast this code:
+
+.. code-block:: cmake
+
+    find_package(pybind11)
+    find_package(PythonInterp)
+    find_package(PythonLibs)
+
+will detect Python 3.x for pybind11 and may crash on
+``find_package(PythonLibs)`` afterwards.
+
+There are three possible solutions:
+
+1. Avoid using ``find_package(PythonInterp)`` and ``find_package(PythonLibs)``
+   from CMake and rely on pybind11 in detecting Python version. If this is not
+   possible, the CMake machinery should be called *before* including pybind11.
+2. Set ``PYBIND11_FINDPYTHON`` to ``True`` or use ``find_package(Python
+   COMPONENTS Interpreter Development)`` on modern CMake (3.12+, 3.15+ better,
+   3.18.2+ best). Pybind11 in these cases uses the new CMake FindPython instead
+   of the old, deprecated search tools, and these modules are much better at
+   finding the correct Python.
+3. Set ``PYBIND11_NOPYTHON`` to ``TRUE``. Pybind11 will not search for Python.
+   However, you will have to use the target-based system, and do more setup
+   yourself, because it does not know about or include things that depend on
+   Python, like ``pybind11_add_module``. This might be ideal for integrating
+   into an existing system, like scikit-build's Python helpers.
+
+How to cite this project?
+=========================
+
+We suggest the following BibTeX template to cite pybind11 in scientific
+discourse:
+
+.. code-block:: bash
+
+    @misc{pybind11,
+       author = {Wenzel Jakob and Jason Rhinelander and Dean Moldovan},
+       year = {2017},
+       note = {https://github.com/pybind/pybind11},
+       title = {pybind11 -- Seamless operability between C++11 and Python}
+    }
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/index.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/index.rst
new file mode 100644
index 0000000..bf79108
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/index.rst
@@ -0,0 +1,43 @@
+.. include:: ../README.rst
+
+.. only: not latex
+
+    Contents:
+
+.. toctree::
+   :maxdepth: 1
+
+   changelog
+   upgrade
+
+.. toctree::
+   :caption: The Basics
+   :maxdepth: 2
+
+   installing
+   basics
+   classes
+   compiling
+
+.. toctree::
+   :caption: Advanced Topics
+   :maxdepth: 2
+
+   advanced/functions
+   advanced/classes
+   advanced/exceptions
+   advanced/smart_ptrs
+   advanced/cast/index
+   advanced/pycpp/index
+   advanced/embedding
+   advanced/misc
+
+.. toctree::
+   :caption: Extra Information
+   :maxdepth: 1
+
+   faq
+   benchmark
+   limitations
+   reference
+   cmake/index
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/installing.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/installing.rst
new file mode 100644
index 0000000..2597285
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/installing.rst
@@ -0,0 +1,103 @@
+.. _installing:
+
+Installing the library
+######################
+
+There are several ways to get the pybind11 source, which lives at
+`pybind/pybind11 on GitHub <https://github.com/pybind/pybind11>`_. The pybind11
+developers recommend one of the first three ways listed here, submodule, PyPI,
+or conda-forge, for obtaining pybind11.
+
+Include as a submodule
+======================
+
+When you are working on a project in Git, you can use the pybind11 repository
+as a submodule. From your git repository, use:
+
+.. code-block:: bash
+
+    git submodule add ../../pybind/pybind11 extern/pybind11 -b stable
+    git submodule update --init
+
+This assumes you are placing your dependencies in ``extern/``, and that you are
+using GitHub; if you are not using GitHub, use the full https or ssh URL
+instead of the relative URL ``../../pybind/pybind11`` above. Some other servers
+also require the ``.git`` extension (GitHub does not).
+
+From here, you can now include ``extern/pybind11/include``, or you can use
+the various integration tools (see :ref:`compiling`) pybind11 provides directly
+from the local folder.
+
+Include with PyPI
+=================
+
+You can download the sources and CMake files as a Python package from PyPI
+using Pip. Just use:
+
+.. code-block:: bash
+
+    pip install pybind11
+
+This will provide pybind11 in a standard Python package format. If you want
+pybind11 available directly in your environment root, you can use:
+
+.. code-block:: bash
+
+    pip install "pybind11[global]"
+
+This is not recommended if you are installing with your system Python, as it
+will add files to ``/usr/local/include/pybind11`` and
+``/usr/local/share/cmake/pybind11``, so unless that is what you want, it is
+recommended only for use in virtual environments or your ``pyproject.toml``
+file (see :ref:`compiling`).
+
+Include with conda-forge
+========================
+
+You can use pybind11 with conda packaging via `conda-forge
+<https://github.com/conda-forge/pybind11-feedstock>`_:
+
+.. code-block:: bash
+
+    conda install -c conda-forge pybind11
+
+
+Include with vcpkg
+==================
+You can download and install pybind11 using the Microsoft `vcpkg
+<https://github.com/Microsoft/vcpkg/>`_ dependency manager:
+
+.. code-block:: bash
+
+    git clone https://github.com/Microsoft/vcpkg.git
+    cd vcpkg
+    ./bootstrap-vcpkg.sh
+    ./vcpkg integrate install
+    vcpkg install pybind11
+
+The pybind11 port in vcpkg is kept up to date by Microsoft team members and
+community contributors. If the version is out of date, please `create an issue
+or pull request <https://github.com/Microsoft/vcpkg/>`_ on the vcpkg
+repository.
+
+Global install with brew
+========================
+
+The brew package manager (Homebrew on macOS, or Linuxbrew on Linux) has a
+`pybind11 package
+<https://github.com/Homebrew/homebrew-core/blob/master/Formula/pybind11.rb>`_.
+To install:
+
+.. code-block:: bash
+
+    brew install pybind11
+
+.. We should list Conan, and possibly a few other C++ package managers (hunter,
+.. perhaps). Conan has a very clean CMake integration that would be good to show.
+
+Other options
+=============
+
+Other locations you can find pybind11 are `listed here
+<https://repology.org/project/python:pybind11/versions>`_; these are maintained
+by various packagers and the community.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/limitations.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/limitations.rst
new file mode 100644
index 0000000..8e39ca8
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/limitations.rst
@@ -0,0 +1,56 @@
+Limitations
+###########
+
+Design choices
+^^^^^^^^^^^^^^
+
+pybind11 strives to be a general solution to binding generation, but it also has
+certain limitations:
+
+- pybind11 casts away ``const``-ness in function arguments and return values.
+  This is in line with the Python language, which has no concept of ``const``
+  values. This means that some additional care is needed to avoid bugs that
+  would be caught by the type checker in a traditional C++ program.
+
+- The NumPy interface ``pybind11::array`` greatly simplifies accessing
+  numerical data from C++ (and vice versa), but it's not a full-blown array
+  class like ``Eigen::Array`` or ``boost.multi_array``. ``Eigen`` objects are
+  directly supported, however, with ``pybind11/eigen.h``.
+
+Large but useful features could be implemented in pybind11 but would lead to a
+significant increase in complexity. Pybind11 strives to be simple and compact.
+Users who require large new features are encouraged to write an extension to
+pybind11; see `pybind11_json <https://github.com/pybind/pybind11_json>`_ for an
+example.
+
+
+Known bugs
+^^^^^^^^^^
+
+These are issues that hopefully will one day be fixed, but currently are
+unsolved. If you know how to help with one of these issues, contributions
+are welcome!
+
+- The test suite currently segfaults on macOS and Python 3.9.0 when exiting the
+  interpreter.  This was suspected to be related to the cross module GIL code,
+  but could be a broader Python 3.9.0 issue.
+  `#2558 <https://github.com/pybind/pybind11/issues/2558>`_
+
+- The ``cpptest`` does not run on Windows with Python 3.8 or newer, due to DLL
+  loader changes. User code that is correctly installed should not be affected.
+  `#2560 <https://github.com/pybind/pybind11/pull/2560>`_
+
+- There may be a rare issue with leakage under some compilers, exposed by
+  adding an unrelated test to the test suite.
+  `#2335 <https://github.com/pybind/pybind11/pull/2335>`_
+
+Known limitations
+^^^^^^^^^^^^^^^^^
+
+These are issues that are probably solvable, but have not been fixed yet. A
+clean, well written patch would likely be accepted to solve them.
+
+- Type casters are not kept alive recursively.
+  `#2527 <https://github.com/pybind/pybind11/issues/2527>`_
+  One consequence is that containers of ``char *`` are currently not supported.
+  `#2245 <https://github.com/pybind/pybind11/issues/2245>`_
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/pybind11-logo.png b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/pybind11-logo.png
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diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/pybind11_vs_boost_python1.png b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/pybind11_vs_boost_python1.png
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diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/reference.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/reference.rst
new file mode 100644
index 0000000..e3a61af
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/reference.rst
@@ -0,0 +1,117 @@
+.. _reference:
+
+.. warning::
+
+    Please be advised that the reference documentation discussing pybind11
+    internals is currently incomplete. Please refer to the previous sections
+    and the pybind11 header files for the nitty gritty details.
+
+Reference
+#########
+
+.. _macros:
+
+Macros
+======
+
+.. doxygendefine:: PYBIND11_MODULE
+
+.. _core_types:
+
+Convenience classes for arbitrary Python types
+==============================================
+
+Common member functions
+-----------------------
+
+.. doxygenclass:: object_api
+    :members:
+
+Without reference counting
+--------------------------
+
+.. doxygenclass:: handle
+    :members:
+
+With reference counting
+-----------------------
+
+.. doxygenclass:: object
+    :members:
+
+.. doxygenfunction:: reinterpret_borrow
+
+.. doxygenfunction:: reinterpret_steal
+
+Convenience classes for specific Python types
+=============================================
+
+.. doxygenclass:: module_
+    :members:
+
+.. doxygengroup:: pytypes
+    :members:
+
+.. _extras:
+
+Passing extra arguments to ``def`` or ``class_``
+================================================
+
+.. doxygengroup:: annotations
+    :members:
+
+Embedding the interpreter
+=========================
+
+.. doxygendefine:: PYBIND11_EMBEDDED_MODULE
+
+.. doxygenfunction:: initialize_interpreter
+
+.. doxygenfunction:: finalize_interpreter
+
+.. doxygenclass:: scoped_interpreter
+
+Redirecting C++ streams
+=======================
+
+.. doxygenclass:: scoped_ostream_redirect
+
+.. doxygenclass:: scoped_estream_redirect
+
+.. doxygenfunction:: add_ostream_redirect
+
+Python built-in functions
+=========================
+
+.. doxygengroup:: python_builtins
+    :members:
+
+Inheritance
+===========
+
+See :doc:`/classes` and :doc:`/advanced/classes` for more detail.
+
+.. doxygendefine:: PYBIND11_OVERRIDE
+
+.. doxygendefine:: PYBIND11_OVERRIDE_PURE
+
+.. doxygendefine:: PYBIND11_OVERRIDE_NAME
+
+.. doxygendefine:: PYBIND11_OVERRIDE_PURE_NAME
+
+.. doxygenfunction:: get_override
+
+Exceptions
+==========
+
+.. doxygenclass:: error_already_set
+    :members:
+
+.. doxygenclass:: builtin_exception
+    :members:
+
+
+Literals
+========
+
+.. doxygennamespace:: literals
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/release.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/release.rst
new file mode 100644
index 0000000..9c3d945
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/release.rst
@@ -0,0 +1,75 @@
+On version numbers
+^^^^^^^^^^^^^^^^^^
+
+The two version numbers (C++ and Python) must match when combined (checked when
+you build the PyPI package), and must be a valid `PEP 440
+<https://www.python.org/dev/peps/pep-0440>`_ version when combined.
+
+For example:
+
+.. code-block:: C++
+
+    #define PYBIND11_VERSION_MAJOR X
+    #define PYBIND11_VERSION_MINOR Y
+    #define PYBIND11_VERSION_PATCH Z.dev1
+
+For beta, ``PYBIND11_VERSION_PATCH`` should be ``Z.b1``. RC's can be ``Z.rc1``.
+Always include the dot (even though PEP 440 allows it to be dropped). For a
+final release, this must be a simple integer.
+
+
+To release a new version of pybind11:
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+- Update the version number
+  - Update ``PYBIND11_VERSION_MAJOR`` etc. in
+    ``include/pybind11/detail/common.h``. PATCH should be a simple integer.
+  - Update ``pybind11/_version.py`` (match above)
+  - Ensure that all the information in ``setup.py`` is up-to-date.
+  - Add release date in ``docs/changelog.rst``.
+  - ``git add`` and ``git commit``, ``git push``. **Ensure CI passes**. (If it
+    fails due to a known flake issue, either ignore or restart CI.)
+- Add a release branch if this is a new minor version
+  - ``git checkout -b vX.Y``, ``git push -u origin vX.Y``
+- Update tags
+  - ``git tag -a vX.Y.Z -m 'vX.Y.Z release'``.
+  - ``git push --tags``.
+- Update stable
+    - ``git checkout stable``
+    - ``git merge master``
+    - ``git push``
+- Make a GitHub release (this shows up in the UI, sends new release
+  notifications to users watching releases, and also uploads PyPI packages).
+  (Note: if you do not use an existing tag, this creates a new lightweight tag
+  for you, so you could skip the above step).
+  - GUI method: click "Create a new release" on the far right, fill in the tag
+    name, fill in a release name like "Version X.Y.Z", and optionally
+    copy-and-paste the changelog into the description (processed as markdown by
+    Pandoc). Check "pre-release" if this is a beta/RC.
+  - CLI method: with ``gh`` installed, run ``gh release create vX.Y.Z -t "Version X.Y.Z"``
+    If this is a pre-release, add ``-p``.
+
+- Get back to work
+  - Make sure you are on master, not somewhere else: ``git checkout master``
+  - Update version macros in ``include/pybind11/common.h`` (set PATCH to
+    ``0.dev1`` and increment MINOR).
+  - Update ``_version.py`` to match
+  - Add a plot for in-development updates in ``docs/changelog.rst``.
+  - ``git add``, ``git commit``, ``git push``
+
+If a version branch is updated, remember to set PATCH to ``1.dev1``.
+
+
+Manual packaging
+^^^^^^^^^^^^^^^^
+
+If you need to manually upload releases, you can download the releases from the job artifacts and upload them with twine. You can also make the files locally (not recommended in general, as your local directory is more likely to be "dirty" and SDists love picking up random unrelated/hidden files); this is the procedure:
+
+.. code-block:: bash
+
+    python3 -m pip install build
+    python3 -m build
+    PYBIND11_SDIST_GLOBAL=1 python3 -m build
+    twine upload dist/*
+
+This makes SDists and wheels, and the final line uploads them.
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/requirements.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/requirements.txt
new file mode 100644
index 0000000..35366e3
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/requirements.txt
@@ -0,0 +1,7 @@
+breathe==4.20.0
+commonmark==0.9.1
+recommonmark==0.6.0
+sphinx==3.2.1
+sphinx_rtd_theme==0.5.0
+sphinxcontrib-moderncmakedomain==3.13
+sphinxcontrib-svg2pdfconverter==1.1.0
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/upgrade.rst b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/upgrade.rst
new file mode 100644
index 0000000..2ad5799
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/docs/upgrade.rst
@@ -0,0 +1,513 @@
+Upgrade guide
+#############
+
+This is a companion guide to the :doc:`changelog`. While the changelog briefly
+lists all of the new features, improvements and bug fixes, this upgrade guide
+focuses only the subset which directly impacts your experience when upgrading
+to a new version. But it goes into more detail. This includes things like
+deprecated APIs and their replacements, build system changes, general code
+modernization and other useful information.
+
+.. _upgrade-guide-2.6:
+
+v2.6
+====
+
+Usage of the ``PYBIND11_OVERLOAD*`` macros and ``get_overload`` function should
+be replaced by ``PYBIND11_OVERRIDE*`` and ``get_override``. In the future, the
+old macros may be deprecated and removed.
+
+``py::module`` has been renamed ``py::module_``, but a backward compatible
+typedef has been included. This change was to avoid a language change in C++20
+that requires unqualified ``module`` not be placed at the start of a logical
+line. Qualified usage is unaffected and the typedef will remain unless the
+C++ language rules change again.
+
+The public constructors of ``py::module_`` have been deprecated. Use
+``PYBIND11_MODULE`` or ``module_::create_extension_module`` instead.
+**Provisional in 2.6.0rc1.**
+
+An error is now thrown when ``__init__`` is forgotten on subclasses. This was
+incorrect before, but was not checked. Add a call to ``__init__`` if it is
+missing.
+
+A ``py::type_error`` is now thrown when casting to a subclass (like
+``py::bytes`` from ``py::object``) if the conversion is not valid. Make a valid
+conversion instead.
+
+The undocumented ``h.get_type()`` method has been deprecated and replaced by
+``py::type::of(h)``.
+
+Enums now have a ``__str__`` method pre-defined; if you want to override it,
+the simplest fix is to add the new ``py::prepend()`` tag when defining
+``"__str__"``.
+
+If ``__eq__`` defined but not ``__hash__``, ``__hash__`` is now set to
+``None``, as in normal CPython. You should add ``__hash__`` if you intended the
+class to be hashable, possibly using the new ``py::hash`` shortcut.
+
+The constructors for ``py::array`` now always take signed integers for size,
+for consistency. This may lead to compiler warnings on some systems. Cast to
+``py::ssize_t`` instead of ``std::size_t``.
+
+The ``tools/clang`` submodule and ``tools/mkdoc.py`` have been moved to a
+standalone package, `pybind11-mkdoc`_. If you were using those tools, please
+use them via a pip install from the new location.
+
+The ``pybind11`` package on PyPI no longer fills the wheel "headers" slot - if
+you were using the headers from this slot, they are available by requesting the
+``global`` extra, that is, ``pip install "pybind11[global]"``. (Most users will
+be unaffected, as the ``pybind11/include`` location is reported by ``python -m
+pybind11 --includes`` and ``pybind11.get_include()`` is still correct and has
+not changed since 2.5).
+
+.. _pybind11-mkdoc: https://github.com/pybind/pybind11-mkdoc
+
+CMake support:
+--------------
+
+The minimum required version of CMake is now 3.4.  Several details of the CMake
+support have been deprecated; warnings will be shown if you need to change
+something. The changes are:
+
+* ``PYBIND11_CPP_STANDARD=<platform-flag>`` is deprecated, please use
+  ``CMAKE_CXX_STANDARD=<number>`` instead, or any other valid CMake CXX or CUDA
+  standard selection method, like ``target_compile_features``.
+
+* If you do not request a standard, pybind11 targets will compile with the
+  compiler default, but not less than C++11, instead of forcing C++14 always.
+  If you depend on the old behavior, please use ``set(CMAKE_CXX_STANDARD 14 CACHE STRING "")``
+  instead.
+
+* Direct ``pybind11::module`` usage should always be accompanied by at least
+  ``set(CMAKE_CXX_VISIBILITY_PRESET hidden)`` or similar - it used to try to
+  manually force this compiler flag (but not correctly on all compilers or with
+  CUDA).
+
+* ``pybind11_add_module``'s ``SYSTEM`` argument is deprecated and does nothing;
+  linking now behaves like other imported libraries consistently in both
+  config and submodule mode, and behaves like a ``SYSTEM`` library by
+  default.
+
+* If ``PYTHON_EXECUTABLE`` is not set, virtual environments (``venv``,
+  ``virtualenv``, and ``conda``) are prioritized over the standard search
+  (similar to the new FindPython mode).
+
+In addition, the following changes may be of interest:
+
+* ``CMAKE_INTERPROCEDURAL_OPTIMIZATION`` will be respected by
+  ``pybind11_add_module`` if set instead of linking to ``pybind11::lto`` or
+  ``pybind11::thin_lto``.
+
+* Using ``find_package(Python COMPONENTS Interpreter Development)`` before
+  pybind11 will cause pybind11 to use the new Python mechanisms instead of its
+  own custom search, based on a patched version of classic ``FindPythonInterp``
+  / ``FindPythonLibs``. In the future, this may become the default. A recent
+  (3.15+ or 3.18.2+) version of CMake is recommended.
+
+
+
+v2.5
+====
+
+The Python package now includes the headers as data in the package itself, as
+well as in the "headers" wheel slot. ``pybind11 --includes`` and
+``pybind11.get_include()`` report the new location, which is always correct
+regardless of how pybind11 was installed, making the old ``user=`` argument
+meaningless. If you are not using the function to get the location already, you
+are encouraged to switch to the package location.
+
+
+v2.2
+====
+
+Deprecation of the ``PYBIND11_PLUGIN`` macro
+--------------------------------------------
+
+``PYBIND11_MODULE`` is now the preferred way to create module entry points.
+The old macro emits a compile-time deprecation warning.
+
+.. code-block:: cpp
+
+    // old
+    PYBIND11_PLUGIN(example) {
+        py::module m("example", "documentation string");
+
+        m.def("add", [](int a, int b) { return a + b; });
+
+        return m.ptr();
+    }
+
+    // new
+    PYBIND11_MODULE(example, m) {
+        m.doc() = "documentation string"; // optional
+
+        m.def("add", [](int a, int b) { return a + b; });
+    }
+
+
+New API for defining custom constructors and pickling functions
+---------------------------------------------------------------
+
+The old placement-new custom constructors have been deprecated. The new approach
+uses ``py::init()`` and factory functions to greatly improve type safety.
+
+Placement-new can be called accidentally with an incompatible type (without any
+compiler errors or warnings), or it can initialize the same object multiple times
+if not careful with the Python-side ``__init__`` calls. The new-style custom
+constructors prevent such mistakes. See :ref:`custom_constructors` for details.
+
+.. code-block:: cpp
+
+    // old -- deprecated (runtime warning shown only in debug mode)
+    py::class<Foo>(m, "Foo")
+        .def("__init__", [](Foo &self, ...) {
+            new (&self) Foo(...); // uses placement-new
+        });
+
+    // new
+    py::class<Foo>(m, "Foo")
+        .def(py::init([](...) { // Note: no `self` argument
+            return new Foo(...); // return by raw pointer
+            // or: return std::make_unique<Foo>(...); // return by holder
+            // or: return Foo(...); // return by value (move constructor)
+        }));
+
+Mirroring the custom constructor changes, ``py::pickle()`` is now the preferred
+way to get and set object state. See :ref:`pickling` for details.
+
+.. code-block:: cpp
+
+    // old -- deprecated (runtime warning shown only in debug mode)
+    py::class<Foo>(m, "Foo")
+        ...
+        .def("__getstate__", [](const Foo &self) {
+            return py::make_tuple(self.value1(), self.value2(), ...);
+        })
+        .def("__setstate__", [](Foo &self, py::tuple t) {
+            new (&self) Foo(t[0].cast<std::string>(), ...);
+        });
+
+    // new
+    py::class<Foo>(m, "Foo")
+        ...
+        .def(py::pickle(
+            [](const Foo &self) { // __getstate__
+                return py::make_tuple(f.value1(), f.value2(), ...); // unchanged
+            },
+            [](py::tuple t) { // __setstate__, note: no `self` argument
+                return new Foo(t[0].cast<std::string>(), ...);
+                // or: return std::make_unique<Foo>(...); // return by holder
+                // or: return Foo(...); // return by value (move constructor)
+            }
+        ));
+
+For both the constructors and pickling, warnings are shown at module
+initialization time (on import, not when the functions are called).
+They're only visible when compiled in debug mode. Sample warning:
+
+.. code-block:: none
+
+    pybind11-bound class 'mymodule.Foo' is using an old-style placement-new '__init__'
+    which has been deprecated. See the upgrade guide in pybind11's docs.
+
+
+Stricter enforcement of hidden symbol visibility for pybind11 modules
+---------------------------------------------------------------------
+
+pybind11 now tries to actively enforce hidden symbol visibility for modules.
+If you're using either one of pybind11's :doc:`CMake or Python build systems
+<compiling>` (the two example repositories) and you haven't been exporting any
+symbols, there's nothing to be concerned about. All the changes have been done
+transparently in the background. If you were building manually or relied on
+specific default visibility, read on.
+
+Setting default symbol visibility to *hidden* has always been recommended for
+pybind11 (see :ref:`faq:symhidden`). On Linux and macOS, hidden symbol
+visibility (in conjunction with the ``strip`` utility) yields much smaller
+module binaries. `CPython's extension docs`_ also recommend hiding symbols
+by default, with the goal of avoiding symbol name clashes between modules.
+Starting with v2.2, pybind11 enforces this more strictly: (1) by declaring
+all symbols inside the ``pybind11`` namespace as hidden and (2) by including
+the ``-fvisibility=hidden`` flag on Linux and macOS (only for extension
+modules, not for embedding the interpreter).
+
+.. _CPython's extension docs: https://docs.python.org/3/extending/extending.html#providing-a-c-api-for-an-extension-module
+
+The namespace-scope hidden visibility is done automatically in pybind11's
+headers and it's generally transparent to users. It ensures that:
+
+* Modules compiled with different pybind11 versions don't clash with each other.
+
+* Some new features, like ``py::module_local`` bindings, can work as intended.
+
+The ``-fvisibility=hidden`` flag applies the same visibility to user bindings
+outside of the ``pybind11`` namespace. It's now set automatic by pybind11's
+CMake and Python build systems, but this needs to be done manually by users
+of other build systems. Adding this flag:
+
+* Minimizes the chances of symbol conflicts between modules. E.g. if two
+  unrelated modules were statically linked to different (ABI-incompatible)
+  versions of the same third-party library, a symbol clash would be likely
+  (and would end with unpredictable results).
+
+* Produces smaller binaries on Linux and macOS, as pointed out previously.
+
+Within pybind11's CMake build system, ``pybind11_add_module`` has always been
+setting the ``-fvisibility=hidden`` flag in release mode. From now on, it's
+being applied unconditionally, even in debug mode and it can no longer be opted
+out of with the ``NO_EXTRAS`` option. The ``pybind11::module`` target now also
+adds this flag to it's interface. The ``pybind11::embed`` target is unchanged.
+
+The most significant change here is for the ``pybind11::module`` target. If you
+were previously relying on default visibility, i.e. if your Python module was
+doubling as a shared library with dependents, you'll need to either export
+symbols manually (recommended for cross-platform libraries) or factor out the
+shared library (and have the Python module link to it like the other
+dependents). As a temporary workaround, you can also restore default visibility
+using the CMake code below, but this is not recommended in the long run:
+
+.. code-block:: cmake
+
+    target_link_libraries(mymodule PRIVATE pybind11::module)
+
+    add_library(restore_default_visibility INTERFACE)
+    target_compile_options(restore_default_visibility INTERFACE -fvisibility=default)
+    target_link_libraries(mymodule PRIVATE restore_default_visibility)
+
+
+Local STL container bindings
+----------------------------
+
+Previous pybind11 versions could only bind types globally -- all pybind11
+modules, even unrelated ones, would have access to the same exported types.
+However, this would also result in a conflict if two modules exported the
+same C++ type, which is especially problematic for very common types, e.g.
+``std::vector<int>``. :ref:`module_local` were added to resolve this (see
+that section for a complete usage guide).
+
+``py::class_`` still defaults to global bindings (because these types are
+usually unique across modules), however in order to avoid clashes of opaque
+types, ``py::bind_vector`` and ``py::bind_map`` will now bind STL containers
+as ``py::module_local`` if their elements are: builtins (``int``, ``float``,
+etc.), not bound using ``py::class_``, or bound as ``py::module_local``. For
+example, this change allows multiple modules to bind ``std::vector<int>``
+without causing conflicts. See :ref:`stl_bind` for more details.
+
+When upgrading to this version, if you have multiple modules which depend on
+a single global binding of an STL container, note that all modules can still
+accept foreign  ``py::module_local`` types in the direction of Python-to-C++.
+The locality only affects the C++-to-Python direction. If this is needed in
+multiple modules, you'll need to either:
+
+* Add a copy of the same STL binding to all of the modules which need it.
+
+* Restore the global status of that single binding by marking it
+  ``py::module_local(false)``.
+
+The latter is an easy workaround, but in the long run it would be best to
+localize all common type bindings in order to avoid conflicts with
+third-party modules.
+
+
+Negative strides for Python buffer objects and numpy arrays
+-----------------------------------------------------------
+
+Support for negative strides required changing the integer type from unsigned
+to signed in the interfaces of ``py::buffer_info`` and ``py::array``. If you
+have compiler warnings enabled, you may notice some new conversion warnings
+after upgrading. These can be resolved using ``static_cast``.
+
+
+Deprecation of some ``py::object`` APIs
+---------------------------------------
+
+To compare ``py::object`` instances by pointer, you should now use
+``obj1.is(obj2)`` which is equivalent to ``obj1 is obj2`` in Python.
+Previously, pybind11 used ``operator==`` for this (``obj1 == obj2``), but
+that could be confusing and is now deprecated (so that it can eventually
+be replaced with proper rich object comparison in a future release).
+
+For classes which inherit from ``py::object``, ``borrowed`` and ``stolen``
+were previously available as protected constructor tags. Now the types
+should be used directly instead: ``borrowed_t{}`` and ``stolen_t{}``
+(`#771 <https://github.com/pybind/pybind11/pull/771>`_).
+
+
+Stricter compile-time error checking
+------------------------------------
+
+Some error checks have been moved from run time to compile time. Notably,
+automatic conversion of ``std::shared_ptr<T>`` is not possible when ``T`` is
+not directly registered with ``py::class_<T>`` (e.g. ``std::shared_ptr<int>``
+or ``std::shared_ptr<std::vector<T>>`` are not automatically convertible).
+Attempting to bind a function with such arguments now results in a compile-time
+error instead of waiting to fail at run time.
+
+``py::init<...>()`` constructor definitions are also stricter and now prevent
+bindings which could cause unexpected behavior:
+
+.. code-block:: cpp
+
+    struct Example {
+        Example(int &);
+    };
+
+    py::class_<Example>(m, "Example")
+        .def(py::init<int &>()); // OK, exact match
+        // .def(py::init<int>()); // compile-time error, mismatch
+
+A non-``const`` lvalue reference is not allowed to bind to an rvalue. However,
+note that a constructor taking ``const T &`` can still be registered using
+``py::init<T>()`` because a ``const`` lvalue reference can bind to an rvalue.
+
+v2.1
+====
+
+Minimum compiler versions are enforced at compile time
+------------------------------------------------------
+
+The minimums also apply to v2.0 but the check is now explicit and a compile-time
+error is raised if the compiler does not meet the requirements:
+
+* GCC >= 4.8
+* clang >= 3.3 (appleclang >= 5.0)
+* MSVC >= 2015u3
+* Intel C++ >= 15.0
+
+
+The ``py::metaclass`` attribute is not required for static properties
+---------------------------------------------------------------------
+
+Binding classes with static properties is now possible by default. The
+zero-parameter version of ``py::metaclass()`` is deprecated. However, a new
+one-parameter ``py::metaclass(python_type)`` version was added for rare
+cases when a custom metaclass is needed to override pybind11's default.
+
+.. code-block:: cpp
+
+    // old -- emits a deprecation warning
+    py::class_<Foo>(m, "Foo", py::metaclass())
+        .def_property_readonly_static("foo", ...);
+
+    // new -- static properties work without the attribute
+    py::class_<Foo>(m, "Foo")
+        .def_property_readonly_static("foo", ...);
+
+    // new -- advanced feature, override pybind11's default metaclass
+    py::class_<Bar>(m, "Bar", py::metaclass(custom_python_type))
+        ...
+
+
+v2.0
+====
+
+Breaking changes in ``py::class_``
+----------------------------------
+
+These changes were necessary to make type definitions in pybind11
+future-proof, to support PyPy via its ``cpyext`` mechanism (`#527
+<https://github.com/pybind/pybind11/pull/527>`_), and to improve efficiency
+(`rev. 86d825 <https://github.com/pybind/pybind11/commit/86d825>`_).
+
+1. Declarations of types that provide access via the buffer protocol must
+   now include the ``py::buffer_protocol()`` annotation as an argument to
+   the ``py::class_`` constructor.
+
+   .. code-block:: cpp
+
+       py::class_<Matrix>("Matrix", py::buffer_protocol())
+           .def(py::init<...>())
+           .def_buffer(...);
+
+2. Classes which include static properties (e.g. ``def_readwrite_static()``)
+   must now include the ``py::metaclass()`` attribute. Note: this requirement
+   has since been removed in v2.1. If you're upgrading from 1.x, it's
+   recommended to skip directly to v2.1 or newer.
+
+3. This version of pybind11 uses a redesigned mechanism for instantiating
+   trampoline classes that are used to override virtual methods from within
+   Python. This led to the following user-visible syntax change:
+
+   .. code-block:: cpp
+
+       // old v1.x syntax
+       py::class_<TrampolineClass>("MyClass")
+           .alias<MyClass>()
+           ...
+
+       // new v2.x syntax
+       py::class_<MyClass, TrampolineClass>("MyClass")
+           ...
+
+   Importantly, both the original and the trampoline class are now specified
+   as arguments to the ``py::class_`` template, and the ``alias<..>()`` call
+   is gone. The new scheme has zero overhead in cases when Python doesn't
+   override any functions of the underlying C++ class.
+   `rev. 86d825 <https://github.com/pybind/pybind11/commit/86d825>`_.
+
+   The class type must be the first template argument given to ``py::class_``
+   while the trampoline can be mixed in arbitrary order with other arguments
+   (see the following section).
+
+
+Deprecation of the ``py::base<T>()`` attribute
+----------------------------------------------
+
+``py::base<T>()`` was deprecated in favor of specifying ``T`` as a template
+argument to ``py::class_``. This new syntax also supports multiple inheritance.
+Note that, while the type being exported must be the first argument in the
+``py::class_<Class, ...>`` template, the order of the following types (bases,
+holder and/or trampoline) is not important.
+
+.. code-block:: cpp
+
+    // old v1.x
+    py::class_<Derived>("Derived", py::base<Base>());
+
+    // new v2.x
+    py::class_<Derived, Base>("Derived");
+
+    // new -- multiple inheritance
+    py::class_<Derived, Base1, Base2>("Derived");
+
+    // new -- apart from `Derived` the argument order can be arbitrary
+    py::class_<Derived, Base1, Holder, Base2, Trampoline>("Derived");
+
+
+Out-of-the-box support for ``std::shared_ptr``
+----------------------------------------------
+
+The relevant type caster is now built in, so it's no longer necessary to
+include a declaration of the form:
+
+.. code-block:: cpp
+
+    PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>)
+
+Continuing to do so won’t cause an error or even a deprecation warning,
+but it's completely redundant.
+
+
+Deprecation of a few ``py::object`` APIs
+----------------------------------------
+
+All of the old-style calls emit deprecation warnings.
+
++---------------------------------------+---------------------------------------------+
+|  Old syntax                           |  New syntax                                 |
++=======================================+=============================================+
+| ``obj.call(args...)``                 | ``obj(args...)``                            |
++---------------------------------------+---------------------------------------------+
+| ``obj.str()``                         | ``py::str(obj)``                            |
++---------------------------------------+---------------------------------------------+
+| ``auto l = py::list(obj); l.check()`` | ``py::isinstance<py::list>(obj)``           |
++---------------------------------------+---------------------------------------------+
+| ``py::object(ptr, true)``             | ``py::reinterpret_borrow<py::object>(ptr)`` |
++---------------------------------------+---------------------------------------------+
+| ``py::object(ptr, false)``            | ``py::reinterpret_steal<py::object>(ptr)``  |
++---------------------------------------+---------------------------------------------+
+| ``if (obj.attr("foo"))``              | ``if (py::hasattr(obj, "foo"))``            |
++---------------------------------------+---------------------------------------------+
+| ``if (obj["bar"])``                   | ``if (obj.contains("bar"))``                |
++---------------------------------------+---------------------------------------------+
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/attr.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/attr.h
new file mode 100644
index 0000000..0c41670
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/attr.h
@@ -0,0 +1,551 @@
+/*
+    pybind11/attr.h: Infrastructure for processing custom
+    type and function attributes
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "cast.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+/// \addtogroup annotations
+/// @{
+
+/// Annotation for methods
+struct is_method { handle class_; is_method(const handle &c) : class_(c) { } };
+
+/// Annotation for operators
+struct is_operator { };
+
+/// Annotation for classes that cannot be subclassed
+struct is_final { };
+
+/// Annotation for parent scope
+struct scope { handle value; scope(const handle &s) : value(s) { } };
+
+/// Annotation for documentation
+struct doc { const char *value; doc(const char *value) : value(value) { } };
+
+/// Annotation for function names
+struct name { const char *value; name(const char *value) : value(value) { } };
+
+/// Annotation indicating that a function is an overload associated with a given "sibling"
+struct sibling { handle value; sibling(const handle &value) : value(value.ptr()) { } };
+
+/// Annotation indicating that a class derives from another given type
+template <typename T> struct base {
+
+    PYBIND11_DEPRECATED("base<T>() was deprecated in favor of specifying 'T' as a template argument to class_")
+    base() { } // NOLINT(modernize-use-equals-default): breaks MSVC 2015 when adding an attribute
+};
+
+/// Keep patient alive while nurse lives
+template <size_t Nurse, size_t Patient> struct keep_alive { };
+
+/// Annotation indicating that a class is involved in a multiple inheritance relationship
+struct multiple_inheritance { };
+
+/// Annotation which enables dynamic attributes, i.e. adds `__dict__` to a class
+struct dynamic_attr { };
+
+/// Annotation which enables the buffer protocol for a type
+struct buffer_protocol { };
+
+/// Annotation which requests that a special metaclass is created for a type
+struct metaclass {
+    handle value;
+
+    PYBIND11_DEPRECATED("py::metaclass() is no longer required. It's turned on by default now.")
+    metaclass() { } // NOLINT(modernize-use-equals-default): breaks MSVC 2015 when adding an attribute
+
+    /// Override pybind11's default metaclass
+    explicit metaclass(handle value) : value(value) { }
+};
+
+/// Annotation that marks a class as local to the module:
+struct module_local { const bool value; constexpr module_local(bool v = true) : value(v) { } };
+
+/// Annotation to mark enums as an arithmetic type
+struct arithmetic { };
+
+/// Mark a function for addition at the beginning of the existing overload chain instead of the end
+struct prepend { };
+
+/** \rst
+    A call policy which places one or more guard variables (``Ts...``) around the function call.
+
+    For example, this definition:
+
+    .. code-block:: cpp
+
+        m.def("foo", foo, py::call_guard<T>());
+
+    is equivalent to the following pseudocode:
+
+    .. code-block:: cpp
+
+        m.def("foo", [](args...) {
+            T scope_guard;
+            return foo(args...); // forwarded arguments
+        });
+ \endrst */
+template <typename... Ts> struct call_guard;
+
+template <> struct call_guard<> { using type = detail::void_type; };
+
+template <typename T>
+struct call_guard<T> {
+    static_assert(std::is_default_constructible<T>::value,
+                  "The guard type must be default constructible");
+
+    using type = T;
+};
+
+template <typename T, typename... Ts>
+struct call_guard<T, Ts...> {
+    struct type {
+        T guard{}; // Compose multiple guard types with left-to-right default-constructor order
+        typename call_guard<Ts...>::type next{};
+    };
+};
+
+/// @} annotations
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+/* Forward declarations */
+enum op_id : int;
+enum op_type : int;
+struct undefined_t;
+template <op_id id, op_type ot, typename L = undefined_t, typename R = undefined_t> struct op_;
+inline void keep_alive_impl(size_t Nurse, size_t Patient, function_call &call, handle ret);
+
+/// Internal data structure which holds metadata about a keyword argument
+struct argument_record {
+    const char *name;  ///< Argument name
+    const char *descr; ///< Human-readable version of the argument value
+    handle value;      ///< Associated Python object
+    bool convert : 1;  ///< True if the argument is allowed to convert when loading
+    bool none : 1;     ///< True if None is allowed when loading
+
+    argument_record(const char *name, const char *descr, handle value, bool convert, bool none)
+        : name(name), descr(descr), value(value), convert(convert), none(none) { }
+};
+
+/// Internal data structure which holds metadata about a bound function (signature, overloads, etc.)
+struct function_record {
+    function_record()
+        : is_constructor(false), is_new_style_constructor(false), is_stateless(false),
+          is_operator(false), is_method(false), has_args(false),
+          has_kwargs(false), has_kw_only_args(false), prepend(false) { }
+
+    /// Function name
+    char *name = nullptr; /* why no C++ strings? They generate heavier code.. */
+
+    // User-specified documentation string
+    char *doc = nullptr;
+
+    /// Human-readable version of the function signature
+    char *signature = nullptr;
+
+    /// List of registered keyword arguments
+    std::vector<argument_record> args;
+
+    /// Pointer to lambda function which converts arguments and performs the actual call
+    handle (*impl) (function_call &) = nullptr;
+
+    /// Storage for the wrapped function pointer and captured data, if any
+    void *data[3] = { };
+
+    /// Pointer to custom destructor for 'data' (if needed)
+    void (*free_data) (function_record *ptr) = nullptr;
+
+    /// Return value policy associated with this function
+    return_value_policy policy = return_value_policy::automatic;
+
+    /// True if name == '__init__'
+    bool is_constructor : 1;
+
+    /// True if this is a new-style `__init__` defined in `detail/init.h`
+    bool is_new_style_constructor : 1;
+
+    /// True if this is a stateless function pointer
+    bool is_stateless : 1;
+
+    /// True if this is an operator (__add__), etc.
+    bool is_operator : 1;
+
+    /// True if this is a method
+    bool is_method : 1;
+
+    /// True if the function has a '*args' argument
+    bool has_args : 1;
+
+    /// True if the function has a '**kwargs' argument
+    bool has_kwargs : 1;
+
+    /// True once a 'py::kw_only' is encountered (any following args are keyword-only)
+    bool has_kw_only_args : 1;
+
+    /// True if this function is to be inserted at the beginning of the overload resolution chain
+    bool prepend : 1;
+
+    /// Number of arguments (including py::args and/or py::kwargs, if present)
+    std::uint16_t nargs;
+
+    /// Number of trailing arguments (counted in `nargs`) that are keyword-only
+    std::uint16_t nargs_kw_only = 0;
+
+    /// Number of leading arguments (counted in `nargs`) that are positional-only
+    std::uint16_t nargs_pos_only = 0;
+
+    /// Python method object
+    PyMethodDef *def = nullptr;
+
+    /// Python handle to the parent scope (a class or a module)
+    handle scope;
+
+    /// Python handle to the sibling function representing an overload chain
+    handle sibling;
+
+    /// Pointer to next overload
+    function_record *next = nullptr;
+};
+
+/// Special data structure which (temporarily) holds metadata about a bound class
+struct type_record {
+    PYBIND11_NOINLINE type_record()
+        : multiple_inheritance(false), dynamic_attr(false), buffer_protocol(false),
+          default_holder(true), module_local(false), is_final(false) { }
+
+    /// Handle to the parent scope
+    handle scope;
+
+    /// Name of the class
+    const char *name = nullptr;
+
+    // Pointer to RTTI type_info data structure
+    const std::type_info *type = nullptr;
+
+    /// How large is the underlying C++ type?
+    size_t type_size = 0;
+
+    /// What is the alignment of the underlying C++ type?
+    size_t type_align = 0;
+
+    /// How large is the type's holder?
+    size_t holder_size = 0;
+
+    /// The global operator new can be overridden with a class-specific variant
+    void *(*operator_new)(size_t) = nullptr;
+
+    /// Function pointer to class_<..>::init_instance
+    void (*init_instance)(instance *, const void *) = nullptr;
+
+    /// Function pointer to class_<..>::dealloc
+    void (*dealloc)(detail::value_and_holder &) = nullptr;
+
+    /// List of base classes of the newly created type
+    list bases;
+
+    /// Optional docstring
+    const char *doc = nullptr;
+
+    /// Custom metaclass (optional)
+    handle metaclass;
+
+    /// Multiple inheritance marker
+    bool multiple_inheritance : 1;
+
+    /// Does the class manage a __dict__?
+    bool dynamic_attr : 1;
+
+    /// Does the class implement the buffer protocol?
+    bool buffer_protocol : 1;
+
+    /// Is the default (unique_ptr) holder type used?
+    bool default_holder : 1;
+
+    /// Is the class definition local to the module shared object?
+    bool module_local : 1;
+
+    /// Is the class inheritable from python classes?
+    bool is_final : 1;
+
+    PYBIND11_NOINLINE void add_base(const std::type_info &base, void *(*caster)(void *)) {
+        auto base_info = detail::get_type_info(base, false);
+        if (!base_info) {
+            std::string tname(base.name());
+            detail::clean_type_id(tname);
+            pybind11_fail("generic_type: type \"" + std::string(name) +
+                          "\" referenced unknown base type \"" + tname + "\"");
+        }
+
+        if (default_holder != base_info->default_holder) {
+            std::string tname(base.name());
+            detail::clean_type_id(tname);
+            pybind11_fail("generic_type: type \"" + std::string(name) + "\" " +
+                    (default_holder ? "does not have" : "has") +
+                    " a non-default holder type while its base \"" + tname + "\" " +
+                    (base_info->default_holder ? "does not" : "does"));
+        }
+
+        bases.append((PyObject *) base_info->type);
+
+        if (base_info->type->tp_dictoffset != 0)
+            dynamic_attr = true;
+
+        if (caster)
+            base_info->implicit_casts.emplace_back(type, caster);
+    }
+};
+
+inline function_call::function_call(const function_record &f, handle p) :
+        func(f), parent(p) {
+    args.reserve(f.nargs);
+    args_convert.reserve(f.nargs);
+}
+
+/// Tag for a new-style `__init__` defined in `detail/init.h`
+struct is_new_style_constructor { };
+
+/**
+ * Partial template specializations to process custom attributes provided to
+ * cpp_function_ and class_. These are either used to initialize the respective
+ * fields in the type_record and function_record data structures or executed at
+ * runtime to deal with custom call policies (e.g. keep_alive).
+ */
+template <typename T, typename SFINAE = void> struct process_attribute;
+
+template <typename T> struct process_attribute_default {
+    /// Default implementation: do nothing
+    static void init(const T &, function_record *) { }
+    static void init(const T &, type_record *) { }
+    static void precall(function_call &) { }
+    static void postcall(function_call &, handle) { }
+};
+
+/// Process an attribute specifying the function's name
+template <> struct process_attribute<name> : process_attribute_default<name> {
+    static void init(const name &n, function_record *r) { r->name = const_cast<char *>(n.value); }
+};
+
+/// Process an attribute specifying the function's docstring
+template <> struct process_attribute<doc> : process_attribute_default<doc> {
+    static void init(const doc &n, function_record *r) { r->doc = const_cast<char *>(n.value); }
+};
+
+/// Process an attribute specifying the function's docstring (provided as a C-style string)
+template <> struct process_attribute<const char *> : process_attribute_default<const char *> {
+    static void init(const char *d, function_record *r) { r->doc = const_cast<char *>(d); }
+    static void init(const char *d, type_record *r) { r->doc = const_cast<char *>(d); }
+};
+template <> struct process_attribute<char *> : process_attribute<const char *> { };
+
+/// Process an attribute indicating the function's return value policy
+template <> struct process_attribute<return_value_policy> : process_attribute_default<return_value_policy> {
+    static void init(const return_value_policy &p, function_record *r) { r->policy = p; }
+};
+
+/// Process an attribute which indicates that this is an overloaded function associated with a given sibling
+template <> struct process_attribute<sibling> : process_attribute_default<sibling> {
+    static void init(const sibling &s, function_record *r) { r->sibling = s.value; }
+};
+
+/// Process an attribute which indicates that this function is a method
+template <> struct process_attribute<is_method> : process_attribute_default<is_method> {
+    static void init(const is_method &s, function_record *r) { r->is_method = true; r->scope = s.class_; }
+};
+
+/// Process an attribute which indicates the parent scope of a method
+template <> struct process_attribute<scope> : process_attribute_default<scope> {
+    static void init(const scope &s, function_record *r) { r->scope = s.value; }
+};
+
+/// Process an attribute which indicates that this function is an operator
+template <> struct process_attribute<is_operator> : process_attribute_default<is_operator> {
+    static void init(const is_operator &, function_record *r) { r->is_operator = true; }
+};
+
+template <> struct process_attribute<is_new_style_constructor> : process_attribute_default<is_new_style_constructor> {
+    static void init(const is_new_style_constructor &, function_record *r) { r->is_new_style_constructor = true; }
+};
+
+inline void process_kw_only_arg(const arg &a, function_record *r) {
+    if (!a.name || strlen(a.name) == 0)
+        pybind11_fail("arg(): cannot specify an unnamed argument after an kw_only() annotation");
+    ++r->nargs_kw_only;
+}
+
+/// Process a keyword argument attribute (*without* a default value)
+template <> struct process_attribute<arg> : process_attribute_default<arg> {
+    static void init(const arg &a, function_record *r) {
+        if (r->is_method && r->args.empty())
+            r->args.emplace_back("self", nullptr, handle(), true /*convert*/, false /*none not allowed*/);
+        r->args.emplace_back(a.name, nullptr, handle(), !a.flag_noconvert, a.flag_none);
+
+        if (r->has_kw_only_args) process_kw_only_arg(a, r);
+    }
+};
+
+/// Process a keyword argument attribute (*with* a default value)
+template <> struct process_attribute<arg_v> : process_attribute_default<arg_v> {
+    static void init(const arg_v &a, function_record *r) {
+        if (r->is_method && r->args.empty())
+            r->args.emplace_back("self", nullptr /*descr*/, handle() /*parent*/, true /*convert*/, false /*none not allowed*/);
+
+        if (!a.value) {
+#if !defined(NDEBUG)
+            std::string descr("'");
+            if (a.name) descr += std::string(a.name) + ": ";
+            descr += a.type + "'";
+            if (r->is_method) {
+                if (r->name)
+                    descr += " in method '" + (std::string) str(r->scope) + "." + (std::string) r->name + "'";
+                else
+                    descr += " in method of '" + (std::string) str(r->scope) + "'";
+            } else if (r->name) {
+                descr += " in function '" + (std::string) r->name + "'";
+            }
+            pybind11_fail("arg(): could not convert default argument "
+                          + descr + " into a Python object (type not registered yet?)");
+#else
+            pybind11_fail("arg(): could not convert default argument "
+                          "into a Python object (type not registered yet?). "
+                          "Compile in debug mode for more information.");
+#endif
+        }
+        r->args.emplace_back(a.name, a.descr, a.value.inc_ref(), !a.flag_noconvert, a.flag_none);
+
+        if (r->has_kw_only_args) process_kw_only_arg(a, r);
+    }
+};
+
+/// Process a keyword-only-arguments-follow pseudo argument
+template <> struct process_attribute<kw_only> : process_attribute_default<kw_only> {
+    static void init(const kw_only &, function_record *r) {
+        r->has_kw_only_args = true;
+    }
+};
+
+/// Process a positional-only-argument maker
+template <> struct process_attribute<pos_only> : process_attribute_default<pos_only> {
+    static void init(const pos_only &, function_record *r) {
+        r->nargs_pos_only = static_cast<std::uint16_t>(r->args.size());
+    }
+};
+
+/// Process a parent class attribute.  Single inheritance only (class_ itself already guarantees that)
+template <typename T>
+struct process_attribute<T, enable_if_t<is_pyobject<T>::value>> : process_attribute_default<handle> {
+    static void init(const handle &h, type_record *r) { r->bases.append(h); }
+};
+
+/// Process a parent class attribute (deprecated, does not support multiple inheritance)
+template <typename T>
+struct process_attribute<base<T>> : process_attribute_default<base<T>> {
+    static void init(const base<T> &, type_record *r) { r->add_base(typeid(T), nullptr); }
+};
+
+/// Process a multiple inheritance attribute
+template <>
+struct process_attribute<multiple_inheritance> : process_attribute_default<multiple_inheritance> {
+    static void init(const multiple_inheritance &, type_record *r) { r->multiple_inheritance = true; }
+};
+
+template <>
+struct process_attribute<dynamic_attr> : process_attribute_default<dynamic_attr> {
+    static void init(const dynamic_attr &, type_record *r) { r->dynamic_attr = true; }
+};
+
+template <>
+struct process_attribute<is_final> : process_attribute_default<is_final> {
+    static void init(const is_final &, type_record *r) { r->is_final = true; }
+};
+
+template <>
+struct process_attribute<buffer_protocol> : process_attribute_default<buffer_protocol> {
+    static void init(const buffer_protocol &, type_record *r) { r->buffer_protocol = true; }
+};
+
+template <>
+struct process_attribute<metaclass> : process_attribute_default<metaclass> {
+    static void init(const metaclass &m, type_record *r) { r->metaclass = m.value; }
+};
+
+template <>
+struct process_attribute<module_local> : process_attribute_default<module_local> {
+    static void init(const module_local &l, type_record *r) { r->module_local = l.value; }
+};
+
+/// Process a 'prepend' attribute, putting this at the beginning of the overload chain
+template <>
+struct process_attribute<prepend> : process_attribute_default<prepend> {
+    static void init(const prepend &, function_record *r) { r->prepend = true; }
+};
+
+/// Process an 'arithmetic' attribute for enums (does nothing here)
+template <>
+struct process_attribute<arithmetic> : process_attribute_default<arithmetic> {};
+
+template <typename... Ts>
+struct process_attribute<call_guard<Ts...>> : process_attribute_default<call_guard<Ts...>> { };
+
+/**
+ * Process a keep_alive call policy -- invokes keep_alive_impl during the
+ * pre-call handler if both Nurse, Patient != 0 and use the post-call handler
+ * otherwise
+ */
+template <size_t Nurse, size_t Patient> struct process_attribute<keep_alive<Nurse, Patient>> : public process_attribute_default<keep_alive<Nurse, Patient>> {
+    template <size_t N = Nurse, size_t P = Patient, enable_if_t<N != 0 && P != 0, int> = 0>
+    static void precall(function_call &call) { keep_alive_impl(Nurse, Patient, call, handle()); }
+    template <size_t N = Nurse, size_t P = Patient, enable_if_t<N != 0 && P != 0, int> = 0>
+    static void postcall(function_call &, handle) { }
+    template <size_t N = Nurse, size_t P = Patient, enable_if_t<N == 0 || P == 0, int> = 0>
+    static void precall(function_call &) { }
+    template <size_t N = Nurse, size_t P = Patient, enable_if_t<N == 0 || P == 0, int> = 0>
+    static void postcall(function_call &call, handle ret) { keep_alive_impl(Nurse, Patient, call, ret); }
+};
+
+/// Recursively iterate over variadic template arguments
+template <typename... Args> struct process_attributes {
+    static void init(const Args&... args, function_record *r) {
+        int unused[] = { 0, (process_attribute<typename std::decay<Args>::type>::init(args, r), 0) ... };
+        ignore_unused(unused);
+    }
+    static void init(const Args&... args, type_record *r) {
+        int unused[] = { 0, (process_attribute<typename std::decay<Args>::type>::init(args, r), 0) ... };
+        ignore_unused(unused);
+    }
+    static void precall(function_call &call) {
+        int unused[] = { 0, (process_attribute<typename std::decay<Args>::type>::precall(call), 0) ... };
+        ignore_unused(unused);
+    }
+    static void postcall(function_call &call, handle fn_ret) {
+        int unused[] = { 0, (process_attribute<typename std::decay<Args>::type>::postcall(call, fn_ret), 0) ... };
+        ignore_unused(unused);
+    }
+};
+
+template <typename T>
+using is_call_guard = is_instantiation<call_guard, T>;
+
+/// Extract the ``type`` from the first `call_guard` in `Extras...` (or `void_type` if none found)
+template <typename... Extra>
+using extract_guard_t = typename exactly_one_t<is_call_guard, call_guard<>, Extra...>::type;
+
+/// Check the number of named arguments at compile time
+template <typename... Extra,
+          size_t named = constexpr_sum(std::is_base_of<arg, Extra>::value...),
+          size_t self  = constexpr_sum(std::is_same<is_method, Extra>::value...)>
+constexpr bool expected_num_args(size_t nargs, bool has_args, bool has_kwargs) {
+    return named == 0 || (self + named + has_args + has_kwargs) == nargs;
+}
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/buffer_info.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/buffer_info.h
new file mode 100644
index 0000000..d803004
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/buffer_info.h
@@ -0,0 +1,146 @@
+/*
+    pybind11/buffer_info.h: Python buffer object interface
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "detail/common.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+// Default, C-style strides
+inline std::vector<ssize_t> c_strides(const std::vector<ssize_t> &shape, ssize_t itemsize) {
+    auto ndim = shape.size();
+    std::vector<ssize_t> strides(ndim, itemsize);
+    if (ndim > 0)
+        for (size_t i = ndim - 1; i > 0; --i)
+            strides[i - 1] = strides[i] * shape[i];
+    return strides;
+}
+
+// F-style strides; default when constructing an array_t with `ExtraFlags & f_style`
+inline std::vector<ssize_t> f_strides(const std::vector<ssize_t> &shape, ssize_t itemsize) {
+    auto ndim = shape.size();
+    std::vector<ssize_t> strides(ndim, itemsize);
+    for (size_t i = 1; i < ndim; ++i)
+        strides[i] = strides[i - 1] * shape[i - 1];
+    return strides;
+}
+
+PYBIND11_NAMESPACE_END(detail)
+
+/// Information record describing a Python buffer object
+struct buffer_info {
+    void *ptr = nullptr;          // Pointer to the underlying storage
+    ssize_t itemsize = 0;         // Size of individual items in bytes
+    ssize_t size = 0;             // Total number of entries
+    std::string format;           // For homogeneous buffers, this should be set to format_descriptor<T>::format()
+    ssize_t ndim = 0;             // Number of dimensions
+    std::vector<ssize_t> shape;   // Shape of the tensor (1 entry per dimension)
+    std::vector<ssize_t> strides; // Number of bytes between adjacent entries (for each per dimension)
+    bool readonly = false;        // flag to indicate if the underlying storage may be written to
+
+    buffer_info() = default;
+
+    buffer_info(void *ptr, ssize_t itemsize, const std::string &format, ssize_t ndim,
+                detail::any_container<ssize_t> shape_in, detail::any_container<ssize_t> strides_in, bool readonly=false)
+    : ptr(ptr), itemsize(itemsize), size(1), format(format), ndim(ndim),
+      shape(std::move(shape_in)), strides(std::move(strides_in)), readonly(readonly) {
+        if (ndim != (ssize_t) shape.size() || ndim != (ssize_t) strides.size())
+            pybind11_fail("buffer_info: ndim doesn't match shape and/or strides length");
+        for (size_t i = 0; i < (size_t) ndim; ++i)
+            size *= shape[i];
+    }
+
+    template <typename T>
+    buffer_info(T *ptr, detail::any_container<ssize_t> shape_in, detail::any_container<ssize_t> strides_in, bool readonly=false)
+    : buffer_info(private_ctr_tag(), ptr, sizeof(T), format_descriptor<T>::format(), static_cast<ssize_t>(shape_in->size()), std::move(shape_in), std::move(strides_in), readonly) { }
+
+    buffer_info(void *ptr, ssize_t itemsize, const std::string &format, ssize_t size, bool readonly=false)
+    : buffer_info(ptr, itemsize, format, 1, {size}, {itemsize}, readonly) { }
+
+    template <typename T>
+    buffer_info(T *ptr, ssize_t size, bool readonly=false)
+    : buffer_info(ptr, sizeof(T), format_descriptor<T>::format(), size, readonly) { }
+
+    template <typename T>
+    buffer_info(const T *ptr, ssize_t size, bool readonly=true)
+    : buffer_info(const_cast<T*>(ptr), sizeof(T), format_descriptor<T>::format(), size, readonly) { }
+
+    explicit buffer_info(Py_buffer *view, bool ownview = true)
+    : buffer_info(view->buf, view->itemsize, view->format, view->ndim,
+            {view->shape, view->shape + view->ndim},
+            /* Though buffer::request() requests PyBUF_STRIDES, ctypes objects
+             * ignore this flag and return a view with NULL strides.
+             * When strides are NULL, build them manually.  */
+            view->strides
+            ? std::vector<ssize_t>(view->strides, view->strides + view->ndim)
+            : detail::c_strides({view->shape, view->shape + view->ndim}, view->itemsize),
+            view->readonly) {
+        this->m_view = view;
+        this->ownview = ownview;
+    }
+
+    buffer_info(const buffer_info &) = delete;
+    buffer_info& operator=(const buffer_info &) = delete;
+
+    buffer_info(buffer_info &&other) {
+        (*this) = std::move(other);
+    }
+
+    buffer_info& operator=(buffer_info &&rhs) {
+        ptr = rhs.ptr;
+        itemsize = rhs.itemsize;
+        size = rhs.size;
+        format = std::move(rhs.format);
+        ndim = rhs.ndim;
+        shape = std::move(rhs.shape);
+        strides = std::move(rhs.strides);
+        std::swap(m_view, rhs.m_view);
+        std::swap(ownview, rhs.ownview);
+        readonly = rhs.readonly;
+        return *this;
+    }
+
+    ~buffer_info() {
+        if (m_view && ownview) { PyBuffer_Release(m_view); delete m_view; }
+    }
+
+    Py_buffer *view() const { return m_view; }
+    Py_buffer *&view() { return m_view; }
+private:
+    struct private_ctr_tag { };
+
+    buffer_info(private_ctr_tag, void *ptr, ssize_t itemsize, const std::string &format, ssize_t ndim,
+                detail::any_container<ssize_t> &&shape_in, detail::any_container<ssize_t> &&strides_in, bool readonly)
+    : buffer_info(ptr, itemsize, format, ndim, std::move(shape_in), std::move(strides_in), readonly) { }
+
+    Py_buffer *m_view = nullptr;
+    bool ownview = false;
+};
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+template <typename T, typename SFINAE = void> struct compare_buffer_info {
+    static bool compare(const buffer_info& b) {
+        return b.format == format_descriptor<T>::format() && b.itemsize == (ssize_t) sizeof(T);
+    }
+};
+
+template <typename T> struct compare_buffer_info<T, detail::enable_if_t<std::is_integral<T>::value>> {
+    static bool compare(const buffer_info& b) {
+        return (size_t) b.itemsize == sizeof(T) && (b.format == format_descriptor<T>::value ||
+            ((sizeof(T) == sizeof(long)) && b.format == (std::is_unsigned<T>::value ? "L" : "l")) ||
+            ((sizeof(T) == sizeof(size_t)) && b.format == (std::is_unsigned<T>::value ? "N" : "n")));
+    }
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/cast.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/cast.h
new file mode 100644
index 0000000..2dadfc9
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/cast.h
@@ -0,0 +1,2226 @@
+/*
+    pybind11/cast.h: Partial template specializations to cast between
+    C++ and Python types
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pytypes.h"
+#include "detail/typeid.h"
+#include "detail/descr.h"
+#include "detail/internals.h"
+#include <array>
+#include <limits>
+#include <tuple>
+#include <type_traits>
+
+#if defined(PYBIND11_CPP17)
+#  if defined(__has_include)
+#    if __has_include(<string_view>)
+#      define PYBIND11_HAS_STRING_VIEW
+#    endif
+#  elif defined(_MSC_VER)
+#    define PYBIND11_HAS_STRING_VIEW
+#  endif
+#endif
+#ifdef PYBIND11_HAS_STRING_VIEW
+#include <string_view>
+#endif
+
+#if defined(__cpp_lib_char8_t) && __cpp_lib_char8_t >= 201811L
+#  define PYBIND11_HAS_U8STRING
+#endif
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+/// A life support system for temporary objects created by `type_caster::load()`.
+/// Adding a patient will keep it alive up until the enclosing function returns.
+class loader_life_support {
+public:
+    /// A new patient frame is created when a function is entered
+    loader_life_support() {
+        get_internals().loader_patient_stack.push_back(nullptr);
+    }
+
+    /// ... and destroyed after it returns
+    ~loader_life_support() {
+        auto &stack = get_internals().loader_patient_stack;
+        if (stack.empty())
+            pybind11_fail("loader_life_support: internal error");
+
+        auto ptr = stack.back();
+        stack.pop_back();
+        Py_CLEAR(ptr);
+
+        // A heuristic to reduce the stack's capacity (e.g. after long recursive calls)
+        if (stack.capacity() > 16 && !stack.empty() && stack.capacity() / stack.size() > 2)
+            stack.shrink_to_fit();
+    }
+
+    /// This can only be used inside a pybind11-bound function, either by `argument_loader`
+    /// at argument preparation time or by `py::cast()` at execution time.
+    PYBIND11_NOINLINE static void add_patient(handle h) {
+        auto &stack = get_internals().loader_patient_stack;
+        if (stack.empty())
+            throw cast_error("When called outside a bound function, py::cast() cannot "
+                             "do Python -> C++ conversions which require the creation "
+                             "of temporary values");
+
+        auto &list_ptr = stack.back();
+        if (list_ptr == nullptr) {
+            list_ptr = PyList_New(1);
+            if (!list_ptr)
+                pybind11_fail("loader_life_support: error allocating list");
+            PyList_SET_ITEM(list_ptr, 0, h.inc_ref().ptr());
+        } else {
+            auto result = PyList_Append(list_ptr, h.ptr());
+            if (result == -1)
+                pybind11_fail("loader_life_support: error adding patient");
+        }
+    }
+};
+
+// Gets the cache entry for the given type, creating it if necessary.  The return value is the pair
+// returned by emplace, i.e. an iterator for the entry and a bool set to `true` if the entry was
+// just created.
+inline std::pair<decltype(internals::registered_types_py)::iterator, bool> all_type_info_get_cache(PyTypeObject *type);
+
+// Populates a just-created cache entry.
+PYBIND11_NOINLINE inline void all_type_info_populate(PyTypeObject *t, std::vector<type_info *> &bases) {
+    std::vector<PyTypeObject *> check;
+    for (handle parent : reinterpret_borrow<tuple>(t->tp_bases))
+        check.push_back((PyTypeObject *) parent.ptr());
+
+    auto const &type_dict = get_internals().registered_types_py;
+    for (size_t i = 0; i < check.size(); i++) {
+        auto type = check[i];
+        // Ignore Python2 old-style class super type:
+        if (!PyType_Check((PyObject *) type)) continue;
+
+        // Check `type` in the current set of registered python types:
+        auto it = type_dict.find(type);
+        if (it != type_dict.end()) {
+            // We found a cache entry for it, so it's either pybind-registered or has pre-computed
+            // pybind bases, but we have to make sure we haven't already seen the type(s) before: we
+            // want to follow Python/virtual C++ rules that there should only be one instance of a
+            // common base.
+            for (auto *tinfo : it->second) {
+                // NB: Could use a second set here, rather than doing a linear search, but since
+                // having a large number of immediate pybind11-registered types seems fairly
+                // unlikely, that probably isn't worthwhile.
+                bool found = false;
+                for (auto *known : bases) {
+                    if (known == tinfo) { found = true; break; }
+                }
+                if (!found) bases.push_back(tinfo);
+            }
+        }
+        else if (type->tp_bases) {
+            // It's some python type, so keep follow its bases classes to look for one or more
+            // registered types
+            if (i + 1 == check.size()) {
+                // When we're at the end, we can pop off the current element to avoid growing
+                // `check` when adding just one base (which is typical--i.e. when there is no
+                // multiple inheritance)
+                check.pop_back();
+                i--;
+            }
+            for (handle parent : reinterpret_borrow<tuple>(type->tp_bases))
+                check.push_back((PyTypeObject *) parent.ptr());
+        }
+    }
+}
+
+/**
+ * Extracts vector of type_info pointers of pybind-registered roots of the given Python type.  Will
+ * be just 1 pybind type for the Python type of a pybind-registered class, or for any Python-side
+ * derived class that uses single inheritance.  Will contain as many types as required for a Python
+ * class that uses multiple inheritance to inherit (directly or indirectly) from multiple
+ * pybind-registered classes.  Will be empty if neither the type nor any base classes are
+ * pybind-registered.
+ *
+ * The value is cached for the lifetime of the Python type.
+ */
+inline const std::vector<detail::type_info *> &all_type_info(PyTypeObject *type) {
+    auto ins = all_type_info_get_cache(type);
+    if (ins.second)
+        // New cache entry: populate it
+        all_type_info_populate(type, ins.first->second);
+
+    return ins.first->second;
+}
+
+/**
+ * Gets a single pybind11 type info for a python type.  Returns nullptr if neither the type nor any
+ * ancestors are pybind11-registered.  Throws an exception if there are multiple bases--use
+ * `all_type_info` instead if you want to support multiple bases.
+ */
+PYBIND11_NOINLINE inline detail::type_info* get_type_info(PyTypeObject *type) {
+    auto &bases = all_type_info(type);
+    if (bases.empty())
+        return nullptr;
+    if (bases.size() > 1)
+        pybind11_fail("pybind11::detail::get_type_info: type has multiple pybind11-registered bases");
+    return bases.front();
+}
+
+inline detail::type_info *get_local_type_info(const std::type_index &tp) {
+    auto &locals = registered_local_types_cpp();
+    auto it = locals.find(tp);
+    if (it != locals.end())
+        return it->second;
+    return nullptr;
+}
+
+inline detail::type_info *get_global_type_info(const std::type_index &tp) {
+    auto &types = get_internals().registered_types_cpp;
+    auto it = types.find(tp);
+    if (it != types.end())
+        return it->second;
+    return nullptr;
+}
+
+/// Return the type info for a given C++ type; on lookup failure can either throw or return nullptr.
+PYBIND11_NOINLINE inline detail::type_info *get_type_info(const std::type_index &tp,
+                                                          bool throw_if_missing = false) {
+    if (auto ltype = get_local_type_info(tp))
+        return ltype;
+    if (auto gtype = get_global_type_info(tp))
+        return gtype;
+
+    if (throw_if_missing) {
+        std::string tname = tp.name();
+        detail::clean_type_id(tname);
+        pybind11_fail("pybind11::detail::get_type_info: unable to find type info for \"" + tname + "\"");
+    }
+    return nullptr;
+}
+
+PYBIND11_NOINLINE inline handle get_type_handle(const std::type_info &tp, bool throw_if_missing) {
+    detail::type_info *type_info = get_type_info(tp, throw_if_missing);
+    return handle(type_info ? ((PyObject *) type_info->type) : nullptr);
+}
+
+struct value_and_holder {
+    instance *inst = nullptr;
+    size_t index = 0u;
+    const detail::type_info *type = nullptr;
+    void **vh = nullptr;
+
+    // Main constructor for a found value/holder:
+    value_and_holder(instance *i, const detail::type_info *type, size_t vpos, size_t index) :
+        inst{i}, index{index}, type{type},
+        vh{inst->simple_layout ? inst->simple_value_holder : &inst->nonsimple.values_and_holders[vpos]}
+    {}
+
+    // Default constructor (used to signal a value-and-holder not found by get_value_and_holder())
+    value_and_holder() = default;
+
+    // Used for past-the-end iterator
+    value_and_holder(size_t index) : index{index} {}
+
+    template <typename V = void> V *&value_ptr() const {
+        return reinterpret_cast<V *&>(vh[0]);
+    }
+    // True if this `value_and_holder` has a non-null value pointer
+    explicit operator bool() const { return value_ptr(); }
+
+    template <typename H> H &holder() const {
+        return reinterpret_cast<H &>(vh[1]);
+    }
+    bool holder_constructed() const {
+        return inst->simple_layout
+            ? inst->simple_holder_constructed
+            : inst->nonsimple.status[index] & instance::status_holder_constructed;
+    }
+    void set_holder_constructed(bool v = true) {
+        if (inst->simple_layout)
+            inst->simple_holder_constructed = v;
+        else if (v)
+            inst->nonsimple.status[index] |= instance::status_holder_constructed;
+        else
+            inst->nonsimple.status[index] &= (uint8_t) ~instance::status_holder_constructed;
+    }
+    bool instance_registered() const {
+        return inst->simple_layout
+            ? inst->simple_instance_registered
+            : inst->nonsimple.status[index] & instance::status_instance_registered;
+    }
+    void set_instance_registered(bool v = true) {
+        if (inst->simple_layout)
+            inst->simple_instance_registered = v;
+        else if (v)
+            inst->nonsimple.status[index] |= instance::status_instance_registered;
+        else
+            inst->nonsimple.status[index] &= (uint8_t) ~instance::status_instance_registered;
+    }
+};
+
+// Container for accessing and iterating over an instance's values/holders
+struct values_and_holders {
+private:
+    instance *inst;
+    using type_vec = std::vector<detail::type_info *>;
+    const type_vec &tinfo;
+
+public:
+    values_and_holders(instance *inst) : inst{inst}, tinfo(all_type_info(Py_TYPE(inst))) {}
+
+    struct iterator {
+    private:
+        instance *inst = nullptr;
+        const type_vec *types = nullptr;
+        value_and_holder curr;
+        friend struct values_and_holders;
+        iterator(instance *inst, const type_vec *tinfo)
+            : inst{inst}, types{tinfo},
+            curr(inst /* instance */,
+                 types->empty() ? nullptr : (*types)[0] /* type info */,
+                 0, /* vpos: (non-simple types only): the first vptr comes first */
+                 0 /* index */)
+        {}
+        // Past-the-end iterator:
+        iterator(size_t end) : curr(end) {}
+    public:
+        bool operator==(const iterator &other) const { return curr.index == other.curr.index; }
+        bool operator!=(const iterator &other) const { return curr.index != other.curr.index; }
+        iterator &operator++() {
+            if (!inst->simple_layout)
+                curr.vh += 1 + (*types)[curr.index]->holder_size_in_ptrs;
+            ++curr.index;
+            curr.type = curr.index < types->size() ? (*types)[curr.index] : nullptr;
+            return *this;
+        }
+        value_and_holder &operator*() { return curr; }
+        value_and_holder *operator->() { return &curr; }
+    };
+
+    iterator begin() { return iterator(inst, &tinfo); }
+    iterator end() { return iterator(tinfo.size()); }
+
+    iterator find(const type_info *find_type) {
+        auto it = begin(), endit = end();
+        while (it != endit && it->type != find_type) ++it;
+        return it;
+    }
+
+    size_t size() { return tinfo.size(); }
+};
+
+/**
+ * Extracts C++ value and holder pointer references from an instance (which may contain multiple
+ * values/holders for python-side multiple inheritance) that match the given type.  Throws an error
+ * if the given type (or ValueType, if omitted) is not a pybind11 base of the given instance.  If
+ * `find_type` is omitted (or explicitly specified as nullptr) the first value/holder are returned,
+ * regardless of type (and the resulting .type will be nullptr).
+ *
+ * The returned object should be short-lived: in particular, it must not outlive the called-upon
+ * instance.
+ */
+PYBIND11_NOINLINE inline value_and_holder instance::get_value_and_holder(const type_info *find_type /*= nullptr default in common.h*/, bool throw_if_missing /*= true in common.h*/) {
+    // Optimize common case:
+    if (!find_type || Py_TYPE(this) == find_type->type)
+        return value_and_holder(this, find_type, 0, 0);
+
+    detail::values_and_holders vhs(this);
+    auto it = vhs.find(find_type);
+    if (it != vhs.end())
+        return *it;
+
+    if (!throw_if_missing)
+        return value_and_holder();
+
+#if defined(NDEBUG)
+    pybind11_fail("pybind11::detail::instance::get_value_and_holder: "
+            "type is not a pybind11 base of the given instance "
+            "(compile in debug mode for type details)");
+#else
+    pybind11_fail("pybind11::detail::instance::get_value_and_holder: `" +
+            get_fully_qualified_tp_name(find_type->type) + "' is not a pybind11 base of the given `" +
+            get_fully_qualified_tp_name(Py_TYPE(this)) + "' instance");
+#endif
+}
+
+PYBIND11_NOINLINE inline void instance::allocate_layout() {
+    auto &tinfo = all_type_info(Py_TYPE(this));
+
+    const size_t n_types = tinfo.size();
+
+    if (n_types == 0)
+        pybind11_fail("instance allocation failed: new instance has no pybind11-registered base types");
+
+    simple_layout =
+        n_types == 1 && tinfo.front()->holder_size_in_ptrs <= instance_simple_holder_in_ptrs();
+
+    // Simple path: no python-side multiple inheritance, and a small-enough holder
+    if (simple_layout) {
+        simple_value_holder[0] = nullptr;
+        simple_holder_constructed = false;
+        simple_instance_registered = false;
+    }
+    else { // multiple base types or a too-large holder
+        // Allocate space to hold: [v1*][h1][v2*][h2]...[bb...] where [vN*] is a value pointer,
+        // [hN] is the (uninitialized) holder instance for value N, and [bb...] is a set of bool
+        // values that tracks whether each associated holder has been initialized.  Each [block] is
+        // padded, if necessary, to an integer multiple of sizeof(void *).
+        size_t space = 0;
+        for (auto t : tinfo) {
+            space += 1; // value pointer
+            space += t->holder_size_in_ptrs; // holder instance
+        }
+        size_t flags_at = space;
+        space += size_in_ptrs(n_types); // status bytes (holder_constructed and instance_registered)
+
+        // Allocate space for flags, values, and holders, and initialize it to 0 (flags and values,
+        // in particular, need to be 0).  Use Python's memory allocation functions: in Python 3.6
+        // they default to using pymalloc, which is designed to be efficient for small allocations
+        // like the one we're doing here; in earlier versions (and for larger allocations) they are
+        // just wrappers around malloc.
+#if PY_VERSION_HEX >= 0x03050000
+        nonsimple.values_and_holders = (void **) PyMem_Calloc(space, sizeof(void *));
+        if (!nonsimple.values_and_holders) throw std::bad_alloc();
+#else
+        nonsimple.values_and_holders = (void **) PyMem_New(void *, space);
+        if (!nonsimple.values_and_holders) throw std::bad_alloc();
+        std::memset(nonsimple.values_and_holders, 0, space * sizeof(void *));
+#endif
+        nonsimple.status = reinterpret_cast<uint8_t *>(&nonsimple.values_and_holders[flags_at]);
+    }
+    owned = true;
+}
+
+PYBIND11_NOINLINE inline void instance::deallocate_layout() {
+    if (!simple_layout)
+        PyMem_Free(nonsimple.values_and_holders);
+}
+
+PYBIND11_NOINLINE inline bool isinstance_generic(handle obj, const std::type_info &tp) {
+    handle type = detail::get_type_handle(tp, false);
+    if (!type)
+        return false;
+    return isinstance(obj, type);
+}
+
+PYBIND11_NOINLINE inline std::string error_string() {
+    if (!PyErr_Occurred()) {
+        PyErr_SetString(PyExc_RuntimeError, "Unknown internal error occurred");
+        return "Unknown internal error occurred";
+    }
+
+    error_scope scope; // Preserve error state
+
+    std::string errorString;
+    if (scope.type) {
+        errorString += handle(scope.type).attr("__name__").cast<std::string>();
+        errorString += ": ";
+    }
+    if (scope.value)
+        errorString += (std::string) str(scope.value);
+
+    PyErr_NormalizeException(&scope.type, &scope.value, &scope.trace);
+
+#if PY_MAJOR_VERSION >= 3
+    if (scope.trace != nullptr)
+        PyException_SetTraceback(scope.value, scope.trace);
+#endif
+
+#if !defined(PYPY_VERSION)
+    if (scope.trace) {
+        auto *trace = (PyTracebackObject *) scope.trace;
+
+        /* Get the deepest trace possible */
+        while (trace->tb_next)
+            trace = trace->tb_next;
+
+        PyFrameObject *frame = trace->tb_frame;
+        errorString += "\n\nAt:\n";
+        while (frame) {
+            int lineno = PyFrame_GetLineNumber(frame);
+            errorString +=
+                "  " + handle(frame->f_code->co_filename).cast<std::string>() +
+                "(" + std::to_string(lineno) + "): " +
+                handle(frame->f_code->co_name).cast<std::string>() + "\n";
+            frame = frame->f_back;
+        }
+    }
+#endif
+
+    return errorString;
+}
+
+PYBIND11_NOINLINE inline handle get_object_handle(const void *ptr, const detail::type_info *type ) {
+    auto &instances = get_internals().registered_instances;
+    auto range = instances.equal_range(ptr);
+    for (auto it = range.first; it != range.second; ++it) {
+        for (const auto &vh : values_and_holders(it->second)) {
+            if (vh.type == type)
+                return handle((PyObject *) it->second);
+        }
+    }
+    return handle();
+}
+
+inline PyThreadState *get_thread_state_unchecked() {
+#if defined(PYPY_VERSION)
+    return PyThreadState_GET();
+#elif PY_VERSION_HEX < 0x03000000
+    return _PyThreadState_Current;
+#elif PY_VERSION_HEX < 0x03050000
+    return (PyThreadState*) _Py_atomic_load_relaxed(&_PyThreadState_Current);
+#elif PY_VERSION_HEX < 0x03050200
+    return (PyThreadState*) _PyThreadState_Current.value;
+#else
+    return _PyThreadState_UncheckedGet();
+#endif
+}
+
+// Forward declarations
+inline void keep_alive_impl(handle nurse, handle patient);
+inline PyObject *make_new_instance(PyTypeObject *type);
+
+class type_caster_generic {
+public:
+    PYBIND11_NOINLINE type_caster_generic(const std::type_info &type_info)
+        : typeinfo(get_type_info(type_info)), cpptype(&type_info) { }
+
+    type_caster_generic(const type_info *typeinfo)
+        : typeinfo(typeinfo), cpptype(typeinfo ? typeinfo->cpptype : nullptr) { }
+
+    bool load(handle src, bool convert) {
+        return load_impl<type_caster_generic>(src, convert);
+    }
+
+    PYBIND11_NOINLINE static handle cast(const void *_src, return_value_policy policy, handle parent,
+                                         const detail::type_info *tinfo,
+                                         void *(*copy_constructor)(const void *),
+                                         void *(*move_constructor)(const void *),
+                                         const void *existing_holder = nullptr) {
+        if (!tinfo) // no type info: error will be set already
+            return handle();
+
+        void *src = const_cast<void *>(_src);
+        if (src == nullptr)
+            return none().release();
+
+        auto it_instances = get_internals().registered_instances.equal_range(src);
+        for (auto it_i = it_instances.first; it_i != it_instances.second; ++it_i) {
+            for (auto instance_type : detail::all_type_info(Py_TYPE(it_i->second))) {
+                if (instance_type && same_type(*instance_type->cpptype, *tinfo->cpptype))
+                    return handle((PyObject *) it_i->second).inc_ref();
+            }
+        }
+
+        auto inst = reinterpret_steal<object>(make_new_instance(tinfo->type));
+        auto wrapper = reinterpret_cast<instance *>(inst.ptr());
+        wrapper->owned = false;
+        void *&valueptr = values_and_holders(wrapper).begin()->value_ptr();
+
+        switch (policy) {
+            case return_value_policy::automatic:
+            case return_value_policy::take_ownership:
+                valueptr = src;
+                wrapper->owned = true;
+                break;
+
+            case return_value_policy::automatic_reference:
+            case return_value_policy::reference:
+                valueptr = src;
+                wrapper->owned = false;
+                break;
+
+            case return_value_policy::copy:
+                if (copy_constructor)
+                    valueptr = copy_constructor(src);
+                else {
+#if defined(NDEBUG)
+                    throw cast_error("return_value_policy = copy, but type is "
+                                     "non-copyable! (compile in debug mode for details)");
+#else
+                    std::string type_name(tinfo->cpptype->name());
+                    detail::clean_type_id(type_name);
+                    throw cast_error("return_value_policy = copy, but type " +
+                                     type_name + " is non-copyable!");
+#endif
+                }
+                wrapper->owned = true;
+                break;
+
+            case return_value_policy::move:
+                if (move_constructor)
+                    valueptr = move_constructor(src);
+                else if (copy_constructor)
+                    valueptr = copy_constructor(src);
+                else {
+#if defined(NDEBUG)
+                    throw cast_error("return_value_policy = move, but type is neither "
+                                     "movable nor copyable! "
+                                     "(compile in debug mode for details)");
+#else
+                    std::string type_name(tinfo->cpptype->name());
+                    detail::clean_type_id(type_name);
+                    throw cast_error("return_value_policy = move, but type " +
+                                     type_name + " is neither movable nor copyable!");
+#endif
+                }
+                wrapper->owned = true;
+                break;
+
+            case return_value_policy::reference_internal:
+                valueptr = src;
+                wrapper->owned = false;
+                keep_alive_impl(inst, parent);
+                break;
+
+            default:
+                throw cast_error("unhandled return_value_policy: should not happen!");
+        }
+
+        tinfo->init_instance(wrapper, existing_holder);
+
+        return inst.release();
+    }
+
+    // Base methods for generic caster; there are overridden in copyable_holder_caster
+    void load_value(value_and_holder &&v_h) {
+        auto *&vptr = v_h.value_ptr();
+        // Lazy allocation for unallocated values:
+        if (vptr == nullptr) {
+            auto *type = v_h.type ? v_h.type : typeinfo;
+            if (type->operator_new) {
+                vptr = type->operator_new(type->type_size);
+            } else {
+                #if defined(__cpp_aligned_new) && (!defined(_MSC_VER) || _MSC_VER >= 1912)
+                    if (type->type_align > __STDCPP_DEFAULT_NEW_ALIGNMENT__)
+                        vptr = ::operator new(type->type_size,
+                                              std::align_val_t(type->type_align));
+                    else
+                #endif
+                vptr = ::operator new(type->type_size);
+            }
+        }
+        value = vptr;
+    }
+    bool try_implicit_casts(handle src, bool convert) {
+        for (auto &cast : typeinfo->implicit_casts) {
+            type_caster_generic sub_caster(*cast.first);
+            if (sub_caster.load(src, convert)) {
+                value = cast.second(sub_caster.value);
+                return true;
+            }
+        }
+        return false;
+    }
+    bool try_direct_conversions(handle src) {
+        for (auto &converter : *typeinfo->direct_conversions) {
+            if (converter(src.ptr(), value))
+                return true;
+        }
+        return false;
+    }
+    void check_holder_compat() {}
+
+    PYBIND11_NOINLINE static void *local_load(PyObject *src, const type_info *ti) {
+        auto caster = type_caster_generic(ti);
+        if (caster.load(src, false))
+            return caster.value;
+        return nullptr;
+    }
+
+    /// Try to load with foreign typeinfo, if available. Used when there is no
+    /// native typeinfo, or when the native one wasn't able to produce a value.
+    PYBIND11_NOINLINE bool try_load_foreign_module_local(handle src) {
+        constexpr auto *local_key = PYBIND11_MODULE_LOCAL_ID;
+        const auto pytype = type::handle_of(src);
+        if (!hasattr(pytype, local_key))
+            return false;
+
+        type_info *foreign_typeinfo = reinterpret_borrow<capsule>(getattr(pytype, local_key));
+        // Only consider this foreign loader if actually foreign and is a loader of the correct cpp type
+        if (foreign_typeinfo->module_local_load == &local_load
+            || (cpptype && !same_type(*cpptype, *foreign_typeinfo->cpptype)))
+            return false;
+
+        if (auto result = foreign_typeinfo->module_local_load(src.ptr(), foreign_typeinfo)) {
+            value = result;
+            return true;
+        }
+        return false;
+    }
+
+    // Implementation of `load`; this takes the type of `this` so that it can dispatch the relevant
+    // bits of code between here and copyable_holder_caster where the two classes need different
+    // logic (without having to resort to virtual inheritance).
+    template <typename ThisT>
+    PYBIND11_NOINLINE bool load_impl(handle src, bool convert) {
+        if (!src) return false;
+        if (!typeinfo) return try_load_foreign_module_local(src);
+        if (src.is_none()) {
+            // Defer accepting None to other overloads (if we aren't in convert mode):
+            if (!convert) return false;
+            value = nullptr;
+            return true;
+        }
+
+        auto &this_ = static_cast<ThisT &>(*this);
+        this_.check_holder_compat();
+
+        PyTypeObject *srctype = Py_TYPE(src.ptr());
+
+        // Case 1: If src is an exact type match for the target type then we can reinterpret_cast
+        // the instance's value pointer to the target type:
+        if (srctype == typeinfo->type) {
+            this_.load_value(reinterpret_cast<instance *>(src.ptr())->get_value_and_holder());
+            return true;
+        }
+        // Case 2: We have a derived class
+        else if (PyType_IsSubtype(srctype, typeinfo->type)) {
+            auto &bases = all_type_info(srctype);
+            bool no_cpp_mi = typeinfo->simple_type;
+
+            // Case 2a: the python type is a Python-inherited derived class that inherits from just
+            // one simple (no MI) pybind11 class, or is an exact match, so the C++ instance is of
+            // the right type and we can use reinterpret_cast.
+            // (This is essentially the same as case 2b, but because not using multiple inheritance
+            // is extremely common, we handle it specially to avoid the loop iterator and type
+            // pointer lookup overhead)
+            if (bases.size() == 1 && (no_cpp_mi || bases.front()->type == typeinfo->type)) {
+                this_.load_value(reinterpret_cast<instance *>(src.ptr())->get_value_and_holder());
+                return true;
+            }
+            // Case 2b: the python type inherits from multiple C++ bases.  Check the bases to see if
+            // we can find an exact match (or, for a simple C++ type, an inherited match); if so, we
+            // can safely reinterpret_cast to the relevant pointer.
+            else if (bases.size() > 1) {
+                for (auto base : bases) {
+                    if (no_cpp_mi ? PyType_IsSubtype(base->type, typeinfo->type) : base->type == typeinfo->type) {
+                        this_.load_value(reinterpret_cast<instance *>(src.ptr())->get_value_and_holder(base));
+                        return true;
+                    }
+                }
+            }
+
+            // Case 2c: C++ multiple inheritance is involved and we couldn't find an exact type match
+            // in the registered bases, above, so try implicit casting (needed for proper C++ casting
+            // when MI is involved).
+            if (this_.try_implicit_casts(src, convert))
+                return true;
+        }
+
+        // Perform an implicit conversion
+        if (convert) {
+            for (auto &converter : typeinfo->implicit_conversions) {
+                auto temp = reinterpret_steal<object>(converter(src.ptr(), typeinfo->type));
+                if (load_impl<ThisT>(temp, false)) {
+                    loader_life_support::add_patient(temp);
+                    return true;
+                }
+            }
+            if (this_.try_direct_conversions(src))
+                return true;
+        }
+
+        // Failed to match local typeinfo. Try again with global.
+        if (typeinfo->module_local) {
+            if (auto gtype = get_global_type_info(*typeinfo->cpptype)) {
+                typeinfo = gtype;
+                return load(src, false);
+            }
+        }
+
+        // Global typeinfo has precedence over foreign module_local
+        return try_load_foreign_module_local(src);
+    }
+
+
+    // Called to do type lookup and wrap the pointer and type in a pair when a dynamic_cast
+    // isn't needed or can't be used.  If the type is unknown, sets the error and returns a pair
+    // with .second = nullptr.  (p.first = nullptr is not an error: it becomes None).
+    PYBIND11_NOINLINE static std::pair<const void *, const type_info *> src_and_type(
+            const void *src, const std::type_info &cast_type, const std::type_info *rtti_type = nullptr) {
+        if (auto *tpi = get_type_info(cast_type))
+            return {src, const_cast<const type_info *>(tpi)};
+
+        // Not found, set error:
+        std::string tname = rtti_type ? rtti_type->name() : cast_type.name();
+        detail::clean_type_id(tname);
+        std::string msg = "Unregistered type : " + tname;
+        PyErr_SetString(PyExc_TypeError, msg.c_str());
+        return {nullptr, nullptr};
+    }
+
+    const type_info *typeinfo = nullptr;
+    const std::type_info *cpptype = nullptr;
+    void *value = nullptr;
+};
+
+/**
+ * Determine suitable casting operator for pointer-or-lvalue-casting type casters.  The type caster
+ * needs to provide `operator T*()` and `operator T&()` operators.
+ *
+ * If the type supports moving the value away via an `operator T&&() &&` method, it should use
+ * `movable_cast_op_type` instead.
+ */
+template <typename T>
+using cast_op_type =
+    conditional_t<std::is_pointer<remove_reference_t<T>>::value,
+        typename std::add_pointer<intrinsic_t<T>>::type,
+        typename std::add_lvalue_reference<intrinsic_t<T>>::type>;
+
+/**
+ * Determine suitable casting operator for a type caster with a movable value.  Such a type caster
+ * needs to provide `operator T*()`, `operator T&()`, and `operator T&&() &&`.  The latter will be
+ * called in appropriate contexts where the value can be moved rather than copied.
+ *
+ * These operator are automatically provided when using the PYBIND11_TYPE_CASTER macro.
+ */
+template <typename T>
+using movable_cast_op_type =
+    conditional_t<std::is_pointer<typename std::remove_reference<T>::type>::value,
+        typename std::add_pointer<intrinsic_t<T>>::type,
+    conditional_t<std::is_rvalue_reference<T>::value,
+        typename std::add_rvalue_reference<intrinsic_t<T>>::type,
+        typename std::add_lvalue_reference<intrinsic_t<T>>::type>>;
+
+// std::is_copy_constructible isn't quite enough: it lets std::vector<T> (and similar) through when
+// T is non-copyable, but code containing such a copy constructor fails to actually compile.
+template <typename T, typename SFINAE = void> struct is_copy_constructible : std::is_copy_constructible<T> {};
+
+// Specialization for types that appear to be copy constructible but also look like stl containers
+// (we specifically check for: has `value_type` and `reference` with `reference = value_type&`): if
+// so, copy constructability depends on whether the value_type is copy constructible.
+template <typename Container> struct is_copy_constructible<Container, enable_if_t<all_of<
+        std::is_copy_constructible<Container>,
+        std::is_same<typename Container::value_type &, typename Container::reference>,
+        // Avoid infinite recursion
+        negation<std::is_same<Container, typename Container::value_type>>
+    >::value>> : is_copy_constructible<typename Container::value_type> {};
+
+// Likewise for std::pair
+// (after C++17 it is mandatory that the copy constructor not exist when the two types aren't themselves
+// copy constructible, but this can not be relied upon when T1 or T2 are themselves containers).
+template <typename T1, typename T2> struct is_copy_constructible<std::pair<T1, T2>>
+    : all_of<is_copy_constructible<T1>, is_copy_constructible<T2>> {};
+
+// The same problems arise with std::is_copy_assignable, so we use the same workaround.
+template <typename T, typename SFINAE = void> struct is_copy_assignable : std::is_copy_assignable<T> {};
+template <typename Container> struct is_copy_assignable<Container, enable_if_t<all_of<
+        std::is_copy_assignable<Container>,
+        std::is_same<typename Container::value_type &, typename Container::reference>
+    >::value>> : is_copy_assignable<typename Container::value_type> {};
+template <typename T1, typename T2> struct is_copy_assignable<std::pair<T1, T2>>
+    : all_of<is_copy_assignable<T1>, is_copy_assignable<T2>> {};
+
+PYBIND11_NAMESPACE_END(detail)
+
+// polymorphic_type_hook<itype>::get(src, tinfo) determines whether the object pointed
+// to by `src` actually is an instance of some class derived from `itype`.
+// If so, it sets `tinfo` to point to the std::type_info representing that derived
+// type, and returns a pointer to the start of the most-derived object of that type
+// (in which `src` is a subobject; this will be the same address as `src` in most
+// single inheritance cases). If not, or if `src` is nullptr, it simply returns `src`
+// and leaves `tinfo` at its default value of nullptr.
+//
+// The default polymorphic_type_hook just returns src. A specialization for polymorphic
+// types determines the runtime type of the passed object and adjusts the this-pointer
+// appropriately via dynamic_cast<void*>. This is what enables a C++ Animal* to appear
+// to Python as a Dog (if Dog inherits from Animal, Animal is polymorphic, Dog is
+// registered with pybind11, and this Animal is in fact a Dog).
+//
+// You may specialize polymorphic_type_hook yourself for types that want to appear
+// polymorphic to Python but do not use C++ RTTI. (This is a not uncommon pattern
+// in performance-sensitive applications, used most notably in LLVM.)
+//
+// polymorphic_type_hook_base allows users to specialize polymorphic_type_hook with
+// std::enable_if. User provided specializations will always have higher priority than
+// the default implementation and specialization provided in polymorphic_type_hook_base.
+template <typename itype, typename SFINAE = void>
+struct polymorphic_type_hook_base
+{
+    static const void *get(const itype *src, const std::type_info*&) { return src; }
+};
+template <typename itype>
+struct polymorphic_type_hook_base<itype, detail::enable_if_t<std::is_polymorphic<itype>::value>>
+{
+    static const void *get(const itype *src, const std::type_info*& type) {
+        type = src ? &typeid(*src) : nullptr;
+        return dynamic_cast<const void*>(src);
+    }
+};
+template <typename itype, typename SFINAE = void>
+struct polymorphic_type_hook : public polymorphic_type_hook_base<itype> {};
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+/// Generic type caster for objects stored on the heap
+template <typename type> class type_caster_base : public type_caster_generic {
+    using itype = intrinsic_t<type>;
+
+public:
+    static constexpr auto name = _<type>();
+
+    type_caster_base() : type_caster_base(typeid(type)) { }
+    explicit type_caster_base(const std::type_info &info) : type_caster_generic(info) { }
+
+    static handle cast(const itype &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference)
+            policy = return_value_policy::copy;
+        return cast(&src, policy, parent);
+    }
+
+    static handle cast(itype &&src, return_value_policy, handle parent) {
+        return cast(&src, return_value_policy::move, parent);
+    }
+
+    // Returns a (pointer, type_info) pair taking care of necessary type lookup for a
+    // polymorphic type (using RTTI by default, but can be overridden by specializing
+    // polymorphic_type_hook). If the instance isn't derived, returns the base version.
+    static std::pair<const void *, const type_info *> src_and_type(const itype *src) {
+        auto &cast_type = typeid(itype);
+        const std::type_info *instance_type = nullptr;
+        const void *vsrc = polymorphic_type_hook<itype>::get(src, instance_type);
+        if (instance_type && !same_type(cast_type, *instance_type)) {
+            // This is a base pointer to a derived type. If the derived type is registered
+            // with pybind11, we want to make the full derived object available.
+            // In the typical case where itype is polymorphic, we get the correct
+            // derived pointer (which may be != base pointer) by a dynamic_cast to
+            // most derived type. If itype is not polymorphic, we won't get here
+            // except via a user-provided specialization of polymorphic_type_hook,
+            // and the user has promised that no this-pointer adjustment is
+            // required in that case, so it's OK to use static_cast.
+            if (const auto *tpi = get_type_info(*instance_type))
+                return {vsrc, tpi};
+        }
+        // Otherwise we have either a nullptr, an `itype` pointer, or an unknown derived pointer, so
+        // don't do a cast
+        return type_caster_generic::src_and_type(src, cast_type, instance_type);
+    }
+
+    static handle cast(const itype *src, return_value_policy policy, handle parent) {
+        auto st = src_and_type(src);
+        return type_caster_generic::cast(
+            st.first, policy, parent, st.second,
+            make_copy_constructor(src), make_move_constructor(src));
+    }
+
+    static handle cast_holder(const itype *src, const void *holder) {
+        auto st = src_and_type(src);
+        return type_caster_generic::cast(
+            st.first, return_value_policy::take_ownership, {}, st.second,
+            nullptr, nullptr, holder);
+    }
+
+    template <typename T> using cast_op_type = detail::cast_op_type<T>;
+
+    operator itype*() { return (type *) value; }
+    operator itype&() { if (!value) throw reference_cast_error(); return *((itype *) value); }
+
+protected:
+    using Constructor = void *(*)(const void *);
+
+    /* Only enabled when the types are {copy,move}-constructible *and* when the type
+       does not have a private operator new implementation. */
+    template <typename T, typename = enable_if_t<is_copy_constructible<T>::value>>
+    static auto make_copy_constructor(const T *x) -> decltype(new T(*x), Constructor{}) {
+        return [](const void *arg) -> void * {
+            return new T(*reinterpret_cast<const T *>(arg));
+        };
+    }
+
+    template <typename T, typename = enable_if_t<std::is_move_constructible<T>::value>>
+    static auto make_move_constructor(const T *x) -> decltype(new T(std::move(*const_cast<T *>(x))), Constructor{}) {
+        return [](const void *arg) -> void * {
+            return new T(std::move(*const_cast<T *>(reinterpret_cast<const T *>(arg))));
+        };
+    }
+
+    static Constructor make_copy_constructor(...) { return nullptr; }
+    static Constructor make_move_constructor(...) { return nullptr; }
+};
+
+template <typename type, typename SFINAE = void> class type_caster : public type_caster_base<type> { };
+template <typename type> using make_caster = type_caster<intrinsic_t<type>>;
+
+// Shortcut for calling a caster's `cast_op_type` cast operator for casting a type_caster to a T
+template <typename T> typename make_caster<T>::template cast_op_type<T> cast_op(make_caster<T> &caster) {
+    return caster.operator typename make_caster<T>::template cast_op_type<T>();
+}
+template <typename T> typename make_caster<T>::template cast_op_type<typename std::add_rvalue_reference<T>::type>
+cast_op(make_caster<T> &&caster) {
+    return std::move(caster).operator
+        typename make_caster<T>::template cast_op_type<typename std::add_rvalue_reference<T>::type>();
+}
+
+template <typename type> class type_caster<std::reference_wrapper<type>> {
+private:
+    using caster_t = make_caster<type>;
+    caster_t subcaster;
+    using subcaster_cast_op_type = typename caster_t::template cast_op_type<type>;
+    static_assert(std::is_same<typename std::remove_const<type>::type &, subcaster_cast_op_type>::value,
+            "std::reference_wrapper<T> caster requires T to have a caster with an `T &` operator");
+public:
+    bool load(handle src, bool convert) { return subcaster.load(src, convert); }
+    static constexpr auto name = caster_t::name;
+    static handle cast(const std::reference_wrapper<type> &src, return_value_policy policy, handle parent) {
+        // It is definitely wrong to take ownership of this pointer, so mask that rvp
+        if (policy == return_value_policy::take_ownership || policy == return_value_policy::automatic)
+            policy = return_value_policy::automatic_reference;
+        return caster_t::cast(&src.get(), policy, parent);
+    }
+    template <typename T> using cast_op_type = std::reference_wrapper<type>;
+    operator std::reference_wrapper<type>() { return subcaster.operator subcaster_cast_op_type&(); }
+};
+
+#define PYBIND11_TYPE_CASTER(type, py_name) \
+    protected: \
+        type value; \
+    public: \
+        static constexpr auto name = py_name; \
+        template <typename T_, enable_if_t<std::is_same<type, remove_cv_t<T_>>::value, int> = 0> \
+        static handle cast(T_ *src, return_value_policy policy, handle parent) { \
+            if (!src) return none().release(); \
+            if (policy == return_value_policy::take_ownership) { \
+                auto h = cast(std::move(*src), policy, parent); delete src; return h; \
+            } else { \
+                return cast(*src, policy, parent); \
+            } \
+        } \
+        operator type*() { return &value; } \
+        operator type&() { return value; } \
+        operator type&&() && { return std::move(value); } \
+        template <typename T_> using cast_op_type = pybind11::detail::movable_cast_op_type<T_>
+
+
+template <typename CharT> using is_std_char_type = any_of<
+    std::is_same<CharT, char>, /* std::string */
+#if defined(PYBIND11_HAS_U8STRING)
+    std::is_same<CharT, char8_t>, /* std::u8string */
+#endif
+    std::is_same<CharT, char16_t>, /* std::u16string */
+    std::is_same<CharT, char32_t>, /* std::u32string */
+    std::is_same<CharT, wchar_t> /* std::wstring */
+>;
+
+
+template <typename T>
+struct type_caster<T, enable_if_t<std::is_arithmetic<T>::value && !is_std_char_type<T>::value>> {
+    using _py_type_0 = conditional_t<sizeof(T) <= sizeof(long), long, long long>;
+    using _py_type_1 = conditional_t<std::is_signed<T>::value, _py_type_0, typename std::make_unsigned<_py_type_0>::type>;
+    using py_type = conditional_t<std::is_floating_point<T>::value, double, _py_type_1>;
+public:
+
+    bool load(handle src, bool convert) {
+        py_type py_value;
+
+        if (!src)
+            return false;
+
+        if (std::is_floating_point<T>::value) {
+            if (convert || PyFloat_Check(src.ptr()))
+                py_value = (py_type) PyFloat_AsDouble(src.ptr());
+            else
+                return false;
+        } else if (PyFloat_Check(src.ptr())) {
+            return false;
+        } else if (std::is_unsigned<py_type>::value) {
+            py_value = as_unsigned<py_type>(src.ptr());
+        } else { // signed integer:
+            py_value = sizeof(T) <= sizeof(long)
+                ? (py_type) PyLong_AsLong(src.ptr())
+                : (py_type) PYBIND11_LONG_AS_LONGLONG(src.ptr());
+        }
+
+        // Python API reported an error
+        bool py_err = py_value == (py_type) -1 && PyErr_Occurred();
+
+        // Check to see if the conversion is valid (integers should match exactly)
+        // Signed/unsigned checks happen elsewhere
+        if (py_err || (std::is_integral<T>::value && sizeof(py_type) != sizeof(T) && py_value != (py_type) (T) py_value)) {
+            bool type_error = py_err && PyErr_ExceptionMatches(
+#if PY_VERSION_HEX < 0x03000000 && !defined(PYPY_VERSION)
+                PyExc_SystemError
+#else
+                PyExc_TypeError
+#endif
+            );
+            PyErr_Clear();
+            if (type_error && convert && PyNumber_Check(src.ptr())) {
+                auto tmp = reinterpret_steal<object>(std::is_floating_point<T>::value
+                                                     ? PyNumber_Float(src.ptr())
+                                                     : PyNumber_Long(src.ptr()));
+                PyErr_Clear();
+                return load(tmp, false);
+            }
+            return false;
+        }
+
+        value = (T) py_value;
+        return true;
+    }
+
+    template<typename U = T>
+    static typename std::enable_if<std::is_floating_point<U>::value, handle>::type
+    cast(U src, return_value_policy /* policy */, handle /* parent */) {
+        return PyFloat_FromDouble((double) src);
+    }
+
+    template<typename U = T>
+    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_signed<U>::value && (sizeof(U) <= sizeof(long)), handle>::type
+    cast(U src, return_value_policy /* policy */, handle /* parent */) {
+        return PYBIND11_LONG_FROM_SIGNED((long) src);
+    }
+
+    template<typename U = T>
+    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_unsigned<U>::value && (sizeof(U) <= sizeof(unsigned long)), handle>::type
+    cast(U src, return_value_policy /* policy */, handle /* parent */) {
+        return PYBIND11_LONG_FROM_UNSIGNED((unsigned long) src);
+    }
+
+    template<typename U = T>
+    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_signed<U>::value && (sizeof(U) > sizeof(long)), handle>::type
+    cast(U src, return_value_policy /* policy */, handle /* parent */) {
+        return PyLong_FromLongLong((long long) src);
+    }
+
+    template<typename U = T>
+    static typename std::enable_if<!std::is_floating_point<U>::value && std::is_unsigned<U>::value && (sizeof(U) > sizeof(unsigned long)), handle>::type
+    cast(U src, return_value_policy /* policy */, handle /* parent */) {
+        return PyLong_FromUnsignedLongLong((unsigned long long) src);
+    }
+
+    PYBIND11_TYPE_CASTER(T, _<std::is_integral<T>::value>("int", "float"));
+};
+
+template<typename T> struct void_caster {
+public:
+    bool load(handle src, bool) {
+        if (src && src.is_none())
+            return true;
+        return false;
+    }
+    static handle cast(T, return_value_policy /* policy */, handle /* parent */) {
+        return none().inc_ref();
+    }
+    PYBIND11_TYPE_CASTER(T, _("None"));
+};
+
+template <> class type_caster<void_type> : public void_caster<void_type> {};
+
+template <> class type_caster<void> : public type_caster<void_type> {
+public:
+    using type_caster<void_type>::cast;
+
+    bool load(handle h, bool) {
+        if (!h) {
+            return false;
+        } else if (h.is_none()) {
+            value = nullptr;
+            return true;
+        }
+
+        /* Check if this is a capsule */
+        if (isinstance<capsule>(h)) {
+            value = reinterpret_borrow<capsule>(h);
+            return true;
+        }
+
+        /* Check if this is a C++ type */
+        auto &bases = all_type_info((PyTypeObject *) type::handle_of(h).ptr());
+        if (bases.size() == 1) { // Only allowing loading from a single-value type
+            value = values_and_holders(reinterpret_cast<instance *>(h.ptr())).begin()->value_ptr();
+            return true;
+        }
+
+        /* Fail */
+        return false;
+    }
+
+    static handle cast(const void *ptr, return_value_policy /* policy */, handle /* parent */) {
+        if (ptr)
+            return capsule(ptr).release();
+        else
+            return none().inc_ref();
+    }
+
+    template <typename T> using cast_op_type = void*&;
+    operator void *&() { return value; }
+    static constexpr auto name = _("capsule");
+private:
+    void *value = nullptr;
+};
+
+template <> class type_caster<std::nullptr_t> : public void_caster<std::nullptr_t> { };
+
+template <> class type_caster<bool> {
+public:
+    bool load(handle src, bool convert) {
+        if (!src) return false;
+        else if (src.ptr() == Py_True) { value = true; return true; }
+        else if (src.ptr() == Py_False) { value = false; return true; }
+        else if (convert || !strcmp("numpy.bool_", Py_TYPE(src.ptr())->tp_name)) {
+            // (allow non-implicit conversion for numpy booleans)
+
+            Py_ssize_t res = -1;
+            if (src.is_none()) {
+                res = 0;  // None is implicitly converted to False
+            }
+            #if defined(PYPY_VERSION)
+            // On PyPy, check that "__bool__" (or "__nonzero__" on Python 2.7) attr exists
+            else if (hasattr(src, PYBIND11_BOOL_ATTR)) {
+                res = PyObject_IsTrue(src.ptr());
+            }
+            #else
+            // Alternate approach for CPython: this does the same as the above, but optimized
+            // using the CPython API so as to avoid an unneeded attribute lookup.
+            else if (auto tp_as_number = src.ptr()->ob_type->tp_as_number) {
+                if (PYBIND11_NB_BOOL(tp_as_number)) {
+                    res = (*PYBIND11_NB_BOOL(tp_as_number))(src.ptr());
+                }
+            }
+            #endif
+            if (res == 0 || res == 1) {
+                value = (bool) res;
+                return true;
+            } else {
+                PyErr_Clear();
+            }
+        }
+        return false;
+    }
+    static handle cast(bool src, return_value_policy /* policy */, handle /* parent */) {
+        return handle(src ? Py_True : Py_False).inc_ref();
+    }
+    PYBIND11_TYPE_CASTER(bool, _("bool"));
+};
+
+// Helper class for UTF-{8,16,32} C++ stl strings:
+template <typename StringType, bool IsView = false> struct string_caster {
+    using CharT = typename StringType::value_type;
+
+    // Simplify life by being able to assume standard char sizes (the standard only guarantees
+    // minimums, but Python requires exact sizes)
+    static_assert(!std::is_same<CharT, char>::value || sizeof(CharT) == 1, "Unsupported char size != 1");
+#if defined(PYBIND11_HAS_U8STRING)
+    static_assert(!std::is_same<CharT, char8_t>::value || sizeof(CharT) == 1, "Unsupported char8_t size != 1");
+#endif
+    static_assert(!std::is_same<CharT, char16_t>::value || sizeof(CharT) == 2, "Unsupported char16_t size != 2");
+    static_assert(!std::is_same<CharT, char32_t>::value || sizeof(CharT) == 4, "Unsupported char32_t size != 4");
+    // wchar_t can be either 16 bits (Windows) or 32 (everywhere else)
+    static_assert(!std::is_same<CharT, wchar_t>::value || sizeof(CharT) == 2 || sizeof(CharT) == 4,
+            "Unsupported wchar_t size != 2/4");
+    static constexpr size_t UTF_N = 8 * sizeof(CharT);
+
+    bool load(handle src, bool) {
+#if PY_MAJOR_VERSION < 3
+        object temp;
+#endif
+        handle load_src = src;
+        if (!src) {
+            return false;
+        } else if (!PyUnicode_Check(load_src.ptr())) {
+#if PY_MAJOR_VERSION >= 3
+            return load_bytes(load_src);
+#else
+            if (std::is_same<CharT, char>::value) {
+                return load_bytes(load_src);
+            }
+
+            // The below is a guaranteed failure in Python 3 when PyUnicode_Check returns false
+            if (!PYBIND11_BYTES_CHECK(load_src.ptr()))
+                return false;
+
+            temp = reinterpret_steal<object>(PyUnicode_FromObject(load_src.ptr()));
+            if (!temp) { PyErr_Clear(); return false; }
+            load_src = temp;
+#endif
+        }
+
+        object utfNbytes = reinterpret_steal<object>(PyUnicode_AsEncodedString(
+            load_src.ptr(), UTF_N == 8 ? "utf-8" : UTF_N == 16 ? "utf-16" : "utf-32", nullptr));
+        if (!utfNbytes) { PyErr_Clear(); return false; }
+
+        const auto *buffer = reinterpret_cast<const CharT *>(PYBIND11_BYTES_AS_STRING(utfNbytes.ptr()));
+        size_t length = (size_t) PYBIND11_BYTES_SIZE(utfNbytes.ptr()) / sizeof(CharT);
+        if (UTF_N > 8) { buffer++; length--; } // Skip BOM for UTF-16/32
+        value = StringType(buffer, length);
+
+        // If we're loading a string_view we need to keep the encoded Python object alive:
+        if (IsView)
+            loader_life_support::add_patient(utfNbytes);
+
+        return true;
+    }
+
+    static handle cast(const StringType &src, return_value_policy /* policy */, handle /* parent */) {
+        const char *buffer = reinterpret_cast<const char *>(src.data());
+        auto nbytes = ssize_t(src.size() * sizeof(CharT));
+        handle s = decode_utfN(buffer, nbytes);
+        if (!s) throw error_already_set();
+        return s;
+    }
+
+    PYBIND11_TYPE_CASTER(StringType, _(PYBIND11_STRING_NAME));
+
+private:
+    static handle decode_utfN(const char *buffer, ssize_t nbytes) {
+#if !defined(PYPY_VERSION)
+        return
+            UTF_N == 8  ? PyUnicode_DecodeUTF8(buffer, nbytes, nullptr) :
+            UTF_N == 16 ? PyUnicode_DecodeUTF16(buffer, nbytes, nullptr, nullptr) :
+                          PyUnicode_DecodeUTF32(buffer, nbytes, nullptr, nullptr);
+#else
+        // PyPy segfaults when on PyUnicode_DecodeUTF16 (and possibly on PyUnicode_DecodeUTF32 as well),
+        // so bypass the whole thing by just passing the encoding as a string value, which works properly:
+        return PyUnicode_Decode(buffer, nbytes, UTF_N == 8 ? "utf-8" : UTF_N == 16 ? "utf-16" : "utf-32", nullptr);
+#endif
+    }
+
+    // When loading into a std::string or char*, accept a bytes object as-is (i.e.
+    // without any encoding/decoding attempt).  For other C++ char sizes this is a no-op.
+    // which supports loading a unicode from a str, doesn't take this path.
+    template <typename C = CharT>
+    bool load_bytes(enable_if_t<std::is_same<C, char>::value, handle> src) {
+        if (PYBIND11_BYTES_CHECK(src.ptr())) {
+            // We were passed a Python 3 raw bytes; accept it into a std::string or char*
+            // without any encoding attempt.
+            const char *bytes = PYBIND11_BYTES_AS_STRING(src.ptr());
+            if (bytes) {
+                value = StringType(bytes, (size_t) PYBIND11_BYTES_SIZE(src.ptr()));
+                return true;
+            }
+        }
+
+        return false;
+    }
+
+    template <typename C = CharT>
+    bool load_bytes(enable_if_t<!std::is_same<C, char>::value, handle>) { return false; }
+};
+
+template <typename CharT, class Traits, class Allocator>
+struct type_caster<std::basic_string<CharT, Traits, Allocator>, enable_if_t<is_std_char_type<CharT>::value>>
+    : string_caster<std::basic_string<CharT, Traits, Allocator>> {};
+
+#ifdef PYBIND11_HAS_STRING_VIEW
+template <typename CharT, class Traits>
+struct type_caster<std::basic_string_view<CharT, Traits>, enable_if_t<is_std_char_type<CharT>::value>>
+    : string_caster<std::basic_string_view<CharT, Traits>, true> {};
+#endif
+
+// Type caster for C-style strings.  We basically use a std::string type caster, but also add the
+// ability to use None as a nullptr char* (which the string caster doesn't allow).
+template <typename CharT> struct type_caster<CharT, enable_if_t<is_std_char_type<CharT>::value>> {
+    using StringType = std::basic_string<CharT>;
+    using StringCaster = type_caster<StringType>;
+    StringCaster str_caster;
+    bool none = false;
+    CharT one_char = 0;
+public:
+    bool load(handle src, bool convert) {
+        if (!src) return false;
+        if (src.is_none()) {
+            // Defer accepting None to other overloads (if we aren't in convert mode):
+            if (!convert) return false;
+            none = true;
+            return true;
+        }
+        return str_caster.load(src, convert);
+    }
+
+    static handle cast(const CharT *src, return_value_policy policy, handle parent) {
+        if (src == nullptr) return pybind11::none().inc_ref();
+        return StringCaster::cast(StringType(src), policy, parent);
+    }
+
+    static handle cast(CharT src, return_value_policy policy, handle parent) {
+        if (std::is_same<char, CharT>::value) {
+            handle s = PyUnicode_DecodeLatin1((const char *) &src, 1, nullptr);
+            if (!s) throw error_already_set();
+            return s;
+        }
+        return StringCaster::cast(StringType(1, src), policy, parent);
+    }
+
+    operator CharT*() { return none ? nullptr : const_cast<CharT *>(static_cast<StringType &>(str_caster).c_str()); }
+    operator CharT&() {
+        if (none)
+            throw value_error("Cannot convert None to a character");
+
+        auto &value = static_cast<StringType &>(str_caster);
+        size_t str_len = value.size();
+        if (str_len == 0)
+            throw value_error("Cannot convert empty string to a character");
+
+        // If we're in UTF-8 mode, we have two possible failures: one for a unicode character that
+        // is too high, and one for multiple unicode characters (caught later), so we need to figure
+        // out how long the first encoded character is in bytes to distinguish between these two
+        // errors.  We also allow want to allow unicode characters U+0080 through U+00FF, as those
+        // can fit into a single char value.
+        if (StringCaster::UTF_N == 8 && str_len > 1 && str_len <= 4) {
+            auto v0 = static_cast<unsigned char>(value[0]);
+            size_t char0_bytes = !(v0 & 0x80) ? 1 : // low bits only: 0-127
+                (v0 & 0xE0) == 0xC0 ? 2 : // 0b110xxxxx - start of 2-byte sequence
+                (v0 & 0xF0) == 0xE0 ? 3 : // 0b1110xxxx - start of 3-byte sequence
+                4; // 0b11110xxx - start of 4-byte sequence
+
+            if (char0_bytes == str_len) {
+                // If we have a 128-255 value, we can decode it into a single char:
+                if (char0_bytes == 2 && (v0 & 0xFC) == 0xC0) { // 0x110000xx 0x10xxxxxx
+                    one_char = static_cast<CharT>(((v0 & 3) << 6) + (static_cast<unsigned char>(value[1]) & 0x3F));
+                    return one_char;
+                }
+                // Otherwise we have a single character, but it's > U+00FF
+                throw value_error("Character code point not in range(0x100)");
+            }
+        }
+
+        // UTF-16 is much easier: we can only have a surrogate pair for values above U+FFFF, thus a
+        // surrogate pair with total length 2 instantly indicates a range error (but not a "your
+        // string was too long" error).
+        else if (StringCaster::UTF_N == 16 && str_len == 2) {
+            one_char = static_cast<CharT>(value[0]);
+            if (one_char >= 0xD800 && one_char < 0xE000)
+                throw value_error("Character code point not in range(0x10000)");
+        }
+
+        if (str_len != 1)
+            throw value_error("Expected a character, but multi-character string found");
+
+        one_char = value[0];
+        return one_char;
+    }
+
+    static constexpr auto name = _(PYBIND11_STRING_NAME);
+    template <typename _T> using cast_op_type = pybind11::detail::cast_op_type<_T>;
+};
+
+// Base implementation for std::tuple and std::pair
+template <template<typename...> class Tuple, typename... Ts> class tuple_caster {
+    using type = Tuple<Ts...>;
+    static constexpr auto size = sizeof...(Ts);
+    using indices = make_index_sequence<size>;
+public:
+
+    bool load(handle src, bool convert) {
+        if (!isinstance<sequence>(src))
+            return false;
+        const auto seq = reinterpret_borrow<sequence>(src);
+        if (seq.size() != size)
+            return false;
+        return load_impl(seq, convert, indices{});
+    }
+
+    template <typename T>
+    static handle cast(T &&src, return_value_policy policy, handle parent) {
+        return cast_impl(std::forward<T>(src), policy, parent, indices{});
+    }
+
+    // copied from the PYBIND11_TYPE_CASTER macro
+    template <typename T>
+    static handle cast(T *src, return_value_policy policy, handle parent) {
+        if (!src) return none().release();
+        if (policy == return_value_policy::take_ownership) {
+            auto h = cast(std::move(*src), policy, parent); delete src; return h;
+        } else {
+            return cast(*src, policy, parent);
+        }
+    }
+
+    static constexpr auto name = _("Tuple[") + concat(make_caster<Ts>::name...) + _("]");
+
+    template <typename T> using cast_op_type = type;
+
+    operator type() & { return implicit_cast(indices{}); }
+    operator type() && { return std::move(*this).implicit_cast(indices{}); }
+
+protected:
+    template <size_t... Is>
+    type implicit_cast(index_sequence<Is...>) & { return type(cast_op<Ts>(std::get<Is>(subcasters))...); }
+    template <size_t... Is>
+    type implicit_cast(index_sequence<Is...>) && { return type(cast_op<Ts>(std::move(std::get<Is>(subcasters)))...); }
+
+    static constexpr bool load_impl(const sequence &, bool, index_sequence<>) { return true; }
+
+    template <size_t... Is>
+    bool load_impl(const sequence &seq, bool convert, index_sequence<Is...>) {
+#ifdef __cpp_fold_expressions
+        if ((... || !std::get<Is>(subcasters).load(seq[Is], convert)))
+            return false;
+#else
+        for (bool r : {std::get<Is>(subcasters).load(seq[Is], convert)...})
+            if (!r)
+                return false;
+#endif
+        return true;
+    }
+
+    /* Implementation: Convert a C++ tuple into a Python tuple */
+    template <typename T, size_t... Is>
+    static handle cast_impl(T &&src, return_value_policy policy, handle parent, index_sequence<Is...>) {
+        std::array<object, size> entries{{
+            reinterpret_steal<object>(make_caster<Ts>::cast(std::get<Is>(std::forward<T>(src)), policy, parent))...
+        }};
+        for (const auto &entry: entries)
+            if (!entry)
+                return handle();
+        tuple result(size);
+        int counter = 0;
+        for (auto & entry: entries)
+            PyTuple_SET_ITEM(result.ptr(), counter++, entry.release().ptr());
+        return result.release();
+    }
+
+    Tuple<make_caster<Ts>...> subcasters;
+};
+
+template <typename T1, typename T2> class type_caster<std::pair<T1, T2>>
+    : public tuple_caster<std::pair, T1, T2> {};
+
+template <typename... Ts> class type_caster<std::tuple<Ts...>>
+    : public tuple_caster<std::tuple, Ts...> {};
+
+/// Helper class which abstracts away certain actions. Users can provide specializations for
+/// custom holders, but it's only necessary if the type has a non-standard interface.
+template <typename T>
+struct holder_helper {
+    static auto get(const T &p) -> decltype(p.get()) { return p.get(); }
+};
+
+/// Type caster for holder types like std::shared_ptr, etc.
+template <typename type, typename holder_type>
+struct copyable_holder_caster : public type_caster_base<type> {
+public:
+    using base = type_caster_base<type>;
+    static_assert(std::is_base_of<base, type_caster<type>>::value,
+            "Holder classes are only supported for custom types");
+    using base::base;
+    using base::cast;
+    using base::typeinfo;
+    using base::value;
+
+    bool load(handle src, bool convert) {
+        return base::template load_impl<copyable_holder_caster<type, holder_type>>(src, convert);
+    }
+
+    explicit operator type*() { return this->value; }
+    // static_cast works around compiler error with MSVC 17 and CUDA 10.2
+    // see issue #2180
+    explicit operator type&() { return *(static_cast<type *>(this->value)); }
+    explicit operator holder_type*() { return std::addressof(holder); }
+
+    // Workaround for Intel compiler bug
+    // see pybind11 issue 94
+    #if defined(__ICC) || defined(__INTEL_COMPILER)
+    operator holder_type&() { return holder; }
+    #else
+    explicit operator holder_type&() { return holder; }
+    #endif
+
+    static handle cast(const holder_type &src, return_value_policy, handle) {
+        const auto *ptr = holder_helper<holder_type>::get(src);
+        return type_caster_base<type>::cast_holder(ptr, &src);
+    }
+
+protected:
+    friend class type_caster_generic;
+    void check_holder_compat() {
+        if (typeinfo->default_holder)
+            throw cast_error("Unable to load a custom holder type from a default-holder instance");
+    }
+
+    bool load_value(value_and_holder &&v_h) {
+        if (v_h.holder_constructed()) {
+            value = v_h.value_ptr();
+            holder = v_h.template holder<holder_type>();
+            return true;
+        } else {
+            throw cast_error("Unable to cast from non-held to held instance (T& to Holder<T>) "
+#if defined(NDEBUG)
+                             "(compile in debug mode for type information)");
+#else
+                             "of type '" + type_id<holder_type>() + "''");
+#endif
+        }
+    }
+
+    template <typename T = holder_type, detail::enable_if_t<!std::is_constructible<T, const T &, type*>::value, int> = 0>
+    bool try_implicit_casts(handle, bool) { return false; }
+
+    template <typename T = holder_type, detail::enable_if_t<std::is_constructible<T, const T &, type*>::value, int> = 0>
+    bool try_implicit_casts(handle src, bool convert) {
+        for (auto &cast : typeinfo->implicit_casts) {
+            copyable_holder_caster sub_caster(*cast.first);
+            if (sub_caster.load(src, convert)) {
+                value = cast.second(sub_caster.value);
+                holder = holder_type(sub_caster.holder, (type *) value);
+                return true;
+            }
+        }
+        return false;
+    }
+
+    static bool try_direct_conversions(handle) { return false; }
+
+
+    holder_type holder;
+};
+
+/// Specialize for the common std::shared_ptr, so users don't need to
+template <typename T>
+class type_caster<std::shared_ptr<T>> : public copyable_holder_caster<T, std::shared_ptr<T>> { };
+
+template <typename type, typename holder_type>
+struct move_only_holder_caster {
+    static_assert(std::is_base_of<type_caster_base<type>, type_caster<type>>::value,
+            "Holder classes are only supported for custom types");
+
+    static handle cast(holder_type &&src, return_value_policy, handle) {
+        auto *ptr = holder_helper<holder_type>::get(src);
+        return type_caster_base<type>::cast_holder(ptr, std::addressof(src));
+    }
+    static constexpr auto name = type_caster_base<type>::name;
+};
+
+template <typename type, typename deleter>
+class type_caster<std::unique_ptr<type, deleter>>
+    : public move_only_holder_caster<type, std::unique_ptr<type, deleter>> { };
+
+template <typename type, typename holder_type>
+using type_caster_holder = conditional_t<is_copy_constructible<holder_type>::value,
+                                         copyable_holder_caster<type, holder_type>,
+                                         move_only_holder_caster<type, holder_type>>;
+
+template <typename T, bool Value = false> struct always_construct_holder { static constexpr bool value = Value; };
+
+/// Create a specialization for custom holder types (silently ignores std::shared_ptr)
+#define PYBIND11_DECLARE_HOLDER_TYPE(type, holder_type, ...) \
+    namespace pybind11 { namespace detail { \
+    template <typename type> \
+    struct always_construct_holder<holder_type> : always_construct_holder<void, ##__VA_ARGS__>  { }; \
+    template <typename type> \
+    class type_caster<holder_type, enable_if_t<!is_shared_ptr<holder_type>::value>> \
+        : public type_caster_holder<type, holder_type> { }; \
+    }}
+
+// PYBIND11_DECLARE_HOLDER_TYPE holder types:
+template <typename base, typename holder> struct is_holder_type :
+    std::is_base_of<detail::type_caster_holder<base, holder>, detail::type_caster<holder>> {};
+// Specialization for always-supported unique_ptr holders:
+template <typename base, typename deleter> struct is_holder_type<base, std::unique_ptr<base, deleter>> :
+    std::true_type {};
+
+template <typename T> struct handle_type_name { static constexpr auto name = _<T>(); };
+template <> struct handle_type_name<bytes> { static constexpr auto name = _(PYBIND11_BYTES_NAME); };
+template <> struct handle_type_name<int_> { static constexpr auto name = _("int"); };
+template <> struct handle_type_name<iterable> { static constexpr auto name = _("Iterable"); };
+template <> struct handle_type_name<iterator> { static constexpr auto name = _("Iterator"); };
+template <> struct handle_type_name<none> { static constexpr auto name = _("None"); };
+template <> struct handle_type_name<args> { static constexpr auto name = _("*args"); };
+template <> struct handle_type_name<kwargs> { static constexpr auto name = _("**kwargs"); };
+
+template <typename type>
+struct pyobject_caster {
+    template <typename T = type, enable_if_t<std::is_same<T, handle>::value, int> = 0>
+    bool load(handle src, bool /* convert */) { value = src; return static_cast<bool>(value); }
+
+    template <typename T = type, enable_if_t<std::is_base_of<object, T>::value, int> = 0>
+    bool load(handle src, bool /* convert */) {
+        if (!isinstance<type>(src))
+            return false;
+        value = reinterpret_borrow<type>(src);
+        return true;
+    }
+
+    static handle cast(const handle &src, return_value_policy /* policy */, handle /* parent */) {
+        return src.inc_ref();
+    }
+    PYBIND11_TYPE_CASTER(type, handle_type_name<type>::name);
+};
+
+template <typename T>
+class type_caster<T, enable_if_t<is_pyobject<T>::value>> : public pyobject_caster<T> { };
+
+// Our conditions for enabling moving are quite restrictive:
+// At compile time:
+// - T needs to be a non-const, non-pointer, non-reference type
+// - type_caster<T>::operator T&() must exist
+// - the type must be move constructible (obviously)
+// At run-time:
+// - if the type is non-copy-constructible, the object must be the sole owner of the type (i.e. it
+//   must have ref_count() == 1)h
+// If any of the above are not satisfied, we fall back to copying.
+template <typename T> using move_is_plain_type = satisfies_none_of<T,
+    std::is_void, std::is_pointer, std::is_reference, std::is_const
+>;
+template <typename T, typename SFINAE = void> struct move_always : std::false_type {};
+template <typename T> struct move_always<T, enable_if_t<all_of<
+    move_is_plain_type<T>,
+    negation<is_copy_constructible<T>>,
+    std::is_move_constructible<T>,
+    std::is_same<decltype(std::declval<make_caster<T>>().operator T&()), T&>
+>::value>> : std::true_type {};
+template <typename T, typename SFINAE = void> struct move_if_unreferenced : std::false_type {};
+template <typename T> struct move_if_unreferenced<T, enable_if_t<all_of<
+    move_is_plain_type<T>,
+    negation<move_always<T>>,
+    std::is_move_constructible<T>,
+    std::is_same<decltype(std::declval<make_caster<T>>().operator T&()), T&>
+>::value>> : std::true_type {};
+template <typename T> using move_never = none_of<move_always<T>, move_if_unreferenced<T>>;
+
+// Detect whether returning a `type` from a cast on type's type_caster is going to result in a
+// reference or pointer to a local variable of the type_caster.  Basically, only
+// non-reference/pointer `type`s and reference/pointers from a type_caster_generic are safe;
+// everything else returns a reference/pointer to a local variable.
+template <typename type> using cast_is_temporary_value_reference = bool_constant<
+    (std::is_reference<type>::value || std::is_pointer<type>::value) &&
+    !std::is_base_of<type_caster_generic, make_caster<type>>::value &&
+    !std::is_same<intrinsic_t<type>, void>::value
+>;
+
+// When a value returned from a C++ function is being cast back to Python, we almost always want to
+// force `policy = move`, regardless of the return value policy the function/method was declared
+// with.
+template <typename Return, typename SFINAE = void> struct return_value_policy_override {
+    static return_value_policy policy(return_value_policy p) { return p; }
+};
+
+template <typename Return> struct return_value_policy_override<Return,
+        detail::enable_if_t<std::is_base_of<type_caster_generic, make_caster<Return>>::value, void>> {
+    static return_value_policy policy(return_value_policy p) {
+        return !std::is_lvalue_reference<Return>::value &&
+               !std::is_pointer<Return>::value
+                   ? return_value_policy::move : p;
+    }
+};
+
+// Basic python -> C++ casting; throws if casting fails
+template <typename T, typename SFINAE> type_caster<T, SFINAE> &load_type(type_caster<T, SFINAE> &conv, const handle &handle) {
+    if (!conv.load(handle, true)) {
+#if defined(NDEBUG)
+        throw cast_error("Unable to cast Python instance to C++ type (compile in debug mode for details)");
+#else
+        throw cast_error("Unable to cast Python instance of type " +
+            (std::string) str(type::handle_of(handle)) + " to C++ type '" + type_id<T>() + "'");
+#endif
+    }
+    return conv;
+}
+// Wrapper around the above that also constructs and returns a type_caster
+template <typename T> make_caster<T> load_type(const handle &handle) {
+    make_caster<T> conv;
+    load_type(conv, handle);
+    return conv;
+}
+
+PYBIND11_NAMESPACE_END(detail)
+
+// pytype -> C++ type
+template <typename T, detail::enable_if_t<!detail::is_pyobject<T>::value, int> = 0>
+T cast(const handle &handle) {
+    using namespace detail;
+    static_assert(!cast_is_temporary_value_reference<T>::value,
+            "Unable to cast type to reference: value is local to type caster");
+    return cast_op<T>(load_type<T>(handle));
+}
+
+// pytype -> pytype (calls converting constructor)
+template <typename T, detail::enable_if_t<detail::is_pyobject<T>::value, int> = 0>
+T cast(const handle &handle) { return T(reinterpret_borrow<object>(handle)); }
+
+// C++ type -> py::object
+template <typename T, detail::enable_if_t<!detail::is_pyobject<T>::value, int> = 0>
+object cast(T &&value, return_value_policy policy = return_value_policy::automatic_reference,
+            handle parent = handle()) {
+    using no_ref_T = typename std::remove_reference<T>::type;
+    if (policy == return_value_policy::automatic)
+        policy = std::is_pointer<no_ref_T>::value ? return_value_policy::take_ownership :
+                 std::is_lvalue_reference<T>::value ? return_value_policy::copy : return_value_policy::move;
+    else if (policy == return_value_policy::automatic_reference)
+        policy = std::is_pointer<no_ref_T>::value ? return_value_policy::reference :
+                 std::is_lvalue_reference<T>::value ? return_value_policy::copy : return_value_policy::move;
+    return reinterpret_steal<object>(detail::make_caster<T>::cast(std::forward<T>(value), policy, parent));
+}
+
+template <typename T> T handle::cast() const { return pybind11::cast<T>(*this); }
+template <> inline void handle::cast() const { return; }
+
+template <typename T>
+detail::enable_if_t<!detail::move_never<T>::value, T> move(object &&obj) {
+    if (obj.ref_count() > 1)
+#if defined(NDEBUG)
+        throw cast_error("Unable to cast Python instance to C++ rvalue: instance has multiple references"
+            " (compile in debug mode for details)");
+#else
+        throw cast_error("Unable to move from Python " + (std::string) str(type::handle_of(obj)) +
+                " instance to C++ " + type_id<T>() + " instance: instance has multiple references");
+#endif
+
+    // Move into a temporary and return that, because the reference may be a local value of `conv`
+    T ret = std::move(detail::load_type<T>(obj).operator T&());
+    return ret;
+}
+
+// Calling cast() on an rvalue calls pybind11::cast with the object rvalue, which does:
+// - If we have to move (because T has no copy constructor), do it.  This will fail if the moved
+//   object has multiple references, but trying to copy will fail to compile.
+// - If both movable and copyable, check ref count: if 1, move; otherwise copy
+// - Otherwise (not movable), copy.
+template <typename T> detail::enable_if_t<detail::move_always<T>::value, T> cast(object &&object) {
+    return move<T>(std::move(object));
+}
+template <typename T> detail::enable_if_t<detail::move_if_unreferenced<T>::value, T> cast(object &&object) {
+    if (object.ref_count() > 1)
+        return cast<T>(object);
+    else
+        return move<T>(std::move(object));
+}
+template <typename T> detail::enable_if_t<detail::move_never<T>::value, T> cast(object &&object) {
+    return cast<T>(object);
+}
+
+template <typename T> T object::cast() const & { return pybind11::cast<T>(*this); }
+template <typename T> T object::cast() && { return pybind11::cast<T>(std::move(*this)); }
+template <> inline void object::cast() const & { return; }
+template <> inline void object::cast() && { return; }
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+// Declared in pytypes.h:
+template <typename T, enable_if_t<!is_pyobject<T>::value, int>>
+object object_or_cast(T &&o) { return pybind11::cast(std::forward<T>(o)); }
+
+struct override_unused {}; // Placeholder type for the unneeded (and dead code) static variable in the PYBIND11_OVERRIDE_OVERRIDE macro
+template <typename ret_type> using override_caster_t = conditional_t<
+    cast_is_temporary_value_reference<ret_type>::value, make_caster<ret_type>, override_unused>;
+
+// Trampoline use: for reference/pointer types to value-converted values, we do a value cast, then
+// store the result in the given variable.  For other types, this is a no-op.
+template <typename T> enable_if_t<cast_is_temporary_value_reference<T>::value, T> cast_ref(object &&o, make_caster<T> &caster) {
+    return cast_op<T>(load_type(caster, o));
+}
+template <typename T> enable_if_t<!cast_is_temporary_value_reference<T>::value, T> cast_ref(object &&, override_unused &) {
+    pybind11_fail("Internal error: cast_ref fallback invoked"); }
+
+// Trampoline use: Having a pybind11::cast with an invalid reference type is going to static_assert, even
+// though if it's in dead code, so we provide a "trampoline" to pybind11::cast that only does anything in
+// cases where pybind11::cast is valid.
+template <typename T> enable_if_t<!cast_is_temporary_value_reference<T>::value, T> cast_safe(object &&o) {
+    return pybind11::cast<T>(std::move(o)); }
+template <typename T> enable_if_t<cast_is_temporary_value_reference<T>::value, T> cast_safe(object &&) {
+    pybind11_fail("Internal error: cast_safe fallback invoked"); }
+template <> inline void cast_safe<void>(object &&) {}
+
+PYBIND11_NAMESPACE_END(detail)
+
+template <return_value_policy policy = return_value_policy::automatic_reference>
+tuple make_tuple() { return tuple(0); }
+
+template <return_value_policy policy = return_value_policy::automatic_reference,
+          typename... Args> tuple make_tuple(Args&&... args_) {
+    constexpr size_t size = sizeof...(Args);
+    std::array<object, size> args {
+        { reinterpret_steal<object>(detail::make_caster<Args>::cast(
+            std::forward<Args>(args_), policy, nullptr))... }
+    };
+    for (size_t i = 0; i < args.size(); i++) {
+        if (!args[i]) {
+#if defined(NDEBUG)
+            throw cast_error("make_tuple(): unable to convert arguments to Python object (compile in debug mode for details)");
+#else
+            std::array<std::string, size> argtypes { {type_id<Args>()...} };
+            throw cast_error("make_tuple(): unable to convert argument of type '" +
+                argtypes[i] + "' to Python object");
+#endif
+        }
+    }
+    tuple result(size);
+    int counter = 0;
+    for (auto &arg_value : args)
+        PyTuple_SET_ITEM(result.ptr(), counter++, arg_value.release().ptr());
+    return result;
+}
+
+/// \ingroup annotations
+/// Annotation for arguments
+struct arg {
+    /// Constructs an argument with the name of the argument; if null or omitted, this is a positional argument.
+    constexpr explicit arg(const char *name = nullptr) : name(name), flag_noconvert(false), flag_none(true) { }
+    /// Assign a value to this argument
+    template <typename T> arg_v operator=(T &&value) const;
+    /// Indicate that the type should not be converted in the type caster
+    arg &noconvert(bool flag = true) { flag_noconvert = flag; return *this; }
+    /// Indicates that the argument should/shouldn't allow None (e.g. for nullable pointer args)
+    arg &none(bool flag = true) { flag_none = flag; return *this; }
+
+    const char *name; ///< If non-null, this is a named kwargs argument
+    bool flag_noconvert : 1; ///< If set, do not allow conversion (requires a supporting type caster!)
+    bool flag_none : 1; ///< If set (the default), allow None to be passed to this argument
+};
+
+/// \ingroup annotations
+/// Annotation for arguments with values
+struct arg_v : arg {
+private:
+    template <typename T>
+    arg_v(arg &&base, T &&x, const char *descr = nullptr)
+        : arg(base),
+          value(reinterpret_steal<object>(
+              detail::make_caster<T>::cast(x, return_value_policy::automatic, {})
+          )),
+          descr(descr)
+#if !defined(NDEBUG)
+        , type(type_id<T>())
+#endif
+    { }
+
+public:
+    /// Direct construction with name, default, and description
+    template <typename T>
+    arg_v(const char *name, T &&x, const char *descr = nullptr)
+        : arg_v(arg(name), std::forward<T>(x), descr) { }
+
+    /// Called internally when invoking `py::arg("a") = value`
+    template <typename T>
+    arg_v(const arg &base, T &&x, const char *descr = nullptr)
+        : arg_v(arg(base), std::forward<T>(x), descr) { }
+
+    /// Same as `arg::noconvert()`, but returns *this as arg_v&, not arg&
+    arg_v &noconvert(bool flag = true) { arg::noconvert(flag); return *this; }
+
+    /// Same as `arg::nonone()`, but returns *this as arg_v&, not arg&
+    arg_v &none(bool flag = true) { arg::none(flag); return *this; }
+
+    /// The default value
+    object value;
+    /// The (optional) description of the default value
+    const char *descr;
+#if !defined(NDEBUG)
+    /// The C++ type name of the default value (only available when compiled in debug mode)
+    std::string type;
+#endif
+};
+
+/// \ingroup annotations
+/// Annotation indicating that all following arguments are keyword-only; the is the equivalent of an
+/// unnamed '*' argument (in Python 3)
+struct kw_only {};
+
+/// \ingroup annotations
+/// Annotation indicating that all previous arguments are positional-only; the is the equivalent of an
+/// unnamed '/' argument (in Python 3.8)
+struct pos_only {};
+
+template <typename T>
+arg_v arg::operator=(T &&value) const { return {std::move(*this), std::forward<T>(value)}; }
+
+/// Alias for backward compatibility -- to be removed in version 2.0
+template <typename /*unused*/> using arg_t = arg_v;
+
+inline namespace literals {
+/** \rst
+    String literal version of `arg`
+ \endrst */
+constexpr arg operator"" _a(const char *name, size_t) { return arg(name); }
+} // namespace literals
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+// forward declaration (definition in attr.h)
+struct function_record;
+
+/// Internal data associated with a single function call
+struct function_call {
+    function_call(const function_record &f, handle p); // Implementation in attr.h
+
+    /// The function data:
+    const function_record &func;
+
+    /// Arguments passed to the function:
+    std::vector<handle> args;
+
+    /// The `convert` value the arguments should be loaded with
+    std::vector<bool> args_convert;
+
+    /// Extra references for the optional `py::args` and/or `py::kwargs` arguments (which, if
+    /// present, are also in `args` but without a reference).
+    object args_ref, kwargs_ref;
+
+    /// The parent, if any
+    handle parent;
+
+    /// If this is a call to an initializer, this argument contains `self`
+    handle init_self;
+};
+
+
+/// Helper class which loads arguments for C++ functions called from Python
+template <typename... Args>
+class argument_loader {
+    using indices = make_index_sequence<sizeof...(Args)>;
+
+    template <typename Arg> using argument_is_args   = std::is_same<intrinsic_t<Arg>, args>;
+    template <typename Arg> using argument_is_kwargs = std::is_same<intrinsic_t<Arg>, kwargs>;
+    // Get args/kwargs argument positions relative to the end of the argument list:
+    static constexpr auto args_pos = constexpr_first<argument_is_args, Args...>() - (int) sizeof...(Args),
+                        kwargs_pos = constexpr_first<argument_is_kwargs, Args...>() - (int) sizeof...(Args);
+
+    static constexpr bool args_kwargs_are_last = kwargs_pos >= - 1 && args_pos >= kwargs_pos - 1;
+
+    static_assert(args_kwargs_are_last, "py::args/py::kwargs are only permitted as the last argument(s) of a function");
+
+public:
+    static constexpr bool has_kwargs = kwargs_pos < 0;
+    static constexpr bool has_args = args_pos < 0;
+
+    static constexpr auto arg_names = concat(type_descr(make_caster<Args>::name)...);
+
+    bool load_args(function_call &call) {
+        return load_impl_sequence(call, indices{});
+    }
+
+    template <typename Return, typename Guard, typename Func>
+    enable_if_t<!std::is_void<Return>::value, Return> call(Func &&f) && {
+        return std::move(*this).template call_impl<Return>(std::forward<Func>(f), indices{}, Guard{});
+    }
+
+    template <typename Return, typename Guard, typename Func>
+    enable_if_t<std::is_void<Return>::value, void_type> call(Func &&f) && {
+        std::move(*this).template call_impl<Return>(std::forward<Func>(f), indices{}, Guard{});
+        return void_type();
+    }
+
+private:
+
+    static bool load_impl_sequence(function_call &, index_sequence<>) { return true; }
+
+    template <size_t... Is>
+    bool load_impl_sequence(function_call &call, index_sequence<Is...>) {
+#ifdef __cpp_fold_expressions
+        if ((... || !std::get<Is>(argcasters).load(call.args[Is], call.args_convert[Is])))
+            return false;
+#else
+        for (bool r : {std::get<Is>(argcasters).load(call.args[Is], call.args_convert[Is])...})
+            if (!r)
+                return false;
+#endif
+        return true;
+    }
+
+    template <typename Return, typename Func, size_t... Is, typename Guard>
+    Return call_impl(Func &&f, index_sequence<Is...>, Guard &&) && {
+        return std::forward<Func>(f)(cast_op<Args>(std::move(std::get<Is>(argcasters)))...);
+    }
+
+    std::tuple<make_caster<Args>...> argcasters;
+};
+
+/// Helper class which collects only positional arguments for a Python function call.
+/// A fancier version below can collect any argument, but this one is optimal for simple calls.
+template <return_value_policy policy>
+class simple_collector {
+public:
+    template <typename... Ts>
+    explicit simple_collector(Ts &&...values)
+        : m_args(pybind11::make_tuple<policy>(std::forward<Ts>(values)...)) { }
+
+    const tuple &args() const & { return m_args; }
+    dict kwargs() const { return {}; }
+
+    tuple args() && { return std::move(m_args); }
+
+    /// Call a Python function and pass the collected arguments
+    object call(PyObject *ptr) const {
+        PyObject *result = PyObject_CallObject(ptr, m_args.ptr());
+        if (!result)
+            throw error_already_set();
+        return reinterpret_steal<object>(result);
+    }
+
+private:
+    tuple m_args;
+};
+
+/// Helper class which collects positional, keyword, * and ** arguments for a Python function call
+template <return_value_policy policy>
+class unpacking_collector {
+public:
+    template <typename... Ts>
+    explicit unpacking_collector(Ts &&...values) {
+        // Tuples aren't (easily) resizable so a list is needed for collection,
+        // but the actual function call strictly requires a tuple.
+        auto args_list = list();
+        int _[] = { 0, (process(args_list, std::forward<Ts>(values)), 0)... };
+        ignore_unused(_);
+
+        m_args = std::move(args_list);
+    }
+
+    const tuple &args() const & { return m_args; }
+    const dict &kwargs() const & { return m_kwargs; }
+
+    tuple args() && { return std::move(m_args); }
+    dict kwargs() && { return std::move(m_kwargs); }
+
+    /// Call a Python function and pass the collected arguments
+    object call(PyObject *ptr) const {
+        PyObject *result = PyObject_Call(ptr, m_args.ptr(), m_kwargs.ptr());
+        if (!result)
+            throw error_already_set();
+        return reinterpret_steal<object>(result);
+    }
+
+private:
+    template <typename T>
+    void process(list &args_list, T &&x) {
+        auto o = reinterpret_steal<object>(detail::make_caster<T>::cast(std::forward<T>(x), policy, {}));
+        if (!o) {
+#if defined(NDEBUG)
+            argument_cast_error();
+#else
+            argument_cast_error(std::to_string(args_list.size()), type_id<T>());
+#endif
+        }
+        args_list.append(o);
+    }
+
+    void process(list &args_list, detail::args_proxy ap) {
+        for (auto a : ap)
+            args_list.append(a);
+    }
+
+    void process(list &/*args_list*/, arg_v a) {
+        if (!a.name)
+#if defined(NDEBUG)
+            nameless_argument_error();
+#else
+            nameless_argument_error(a.type);
+#endif
+
+        if (m_kwargs.contains(a.name)) {
+#if defined(NDEBUG)
+            multiple_values_error();
+#else
+            multiple_values_error(a.name);
+#endif
+        }
+        if (!a.value) {
+#if defined(NDEBUG)
+            argument_cast_error();
+#else
+            argument_cast_error(a.name, a.type);
+#endif
+        }
+        m_kwargs[a.name] = a.value;
+    }
+
+    void process(list &/*args_list*/, detail::kwargs_proxy kp) {
+        if (!kp)
+            return;
+        for (auto k : reinterpret_borrow<dict>(kp)) {
+            if (m_kwargs.contains(k.first)) {
+#if defined(NDEBUG)
+                multiple_values_error();
+#else
+                multiple_values_error(str(k.first));
+#endif
+            }
+            m_kwargs[k.first] = k.second;
+        }
+    }
+
+    [[noreturn]] static void nameless_argument_error() {
+        throw type_error("Got kwargs without a name; only named arguments "
+                         "may be passed via py::arg() to a python function call. "
+                         "(compile in debug mode for details)");
+    }
+    [[noreturn]] static void nameless_argument_error(std::string type) {
+        throw type_error("Got kwargs without a name of type '" + type + "'; only named "
+                         "arguments may be passed via py::arg() to a python function call. ");
+    }
+    [[noreturn]] static void multiple_values_error() {
+        throw type_error("Got multiple values for keyword argument "
+                         "(compile in debug mode for details)");
+    }
+
+    [[noreturn]] static void multiple_values_error(std::string name) {
+        throw type_error("Got multiple values for keyword argument '" + name + "'");
+    }
+
+    [[noreturn]] static void argument_cast_error() {
+        throw cast_error("Unable to convert call argument to Python object "
+                         "(compile in debug mode for details)");
+    }
+
+    [[noreturn]] static void argument_cast_error(std::string name, std::string type) {
+        throw cast_error("Unable to convert call argument '" + name
+                         + "' of type '" + type + "' to Python object");
+    }
+
+private:
+    tuple m_args;
+    dict m_kwargs;
+};
+
+/// Collect only positional arguments for a Python function call
+template <return_value_policy policy, typename... Args,
+          typename = enable_if_t<all_of<is_positional<Args>...>::value>>
+simple_collector<policy> collect_arguments(Args &&...args) {
+    return simple_collector<policy>(std::forward<Args>(args)...);
+}
+
+/// Collect all arguments, including keywords and unpacking (only instantiated when needed)
+template <return_value_policy policy, typename... Args,
+          typename = enable_if_t<!all_of<is_positional<Args>...>::value>>
+unpacking_collector<policy> collect_arguments(Args &&...args) {
+    // Following argument order rules for generalized unpacking according to PEP 448
+    static_assert(
+        constexpr_last<is_positional, Args...>() < constexpr_first<is_keyword_or_ds, Args...>()
+        && constexpr_last<is_s_unpacking, Args...>() < constexpr_first<is_ds_unpacking, Args...>(),
+        "Invalid function call: positional args must precede keywords and ** unpacking; "
+        "* unpacking must precede ** unpacking"
+    );
+    return unpacking_collector<policy>(std::forward<Args>(args)...);
+}
+
+template <typename Derived>
+template <return_value_policy policy, typename... Args>
+object object_api<Derived>::operator()(Args &&...args) const {
+    return detail::collect_arguments<policy>(std::forward<Args>(args)...).call(derived().ptr());
+}
+
+template <typename Derived>
+template <return_value_policy policy, typename... Args>
+object object_api<Derived>::call(Args &&...args) const {
+    return operator()<policy>(std::forward<Args>(args)...);
+}
+
+PYBIND11_NAMESPACE_END(detail)
+
+
+template<typename T>
+handle type::handle_of() {
+   static_assert(
+      std::is_base_of<detail::type_caster_generic, detail::make_caster<T>>::value,
+      "py::type::of<T> only supports the case where T is a registered C++ types."
+    );
+
+    return detail::get_type_handle(typeid(T), true);
+}
+
+
+#define PYBIND11_MAKE_OPAQUE(...) \
+    namespace pybind11 { namespace detail { \
+        template<> class type_caster<__VA_ARGS__> : public type_caster_base<__VA_ARGS__> { }; \
+    }}
+
+/// Lets you pass a type containing a `,` through a macro parameter without needing a separate
+/// typedef, e.g.: `PYBIND11_OVERRIDE(PYBIND11_TYPE(ReturnType<A, B>), PYBIND11_TYPE(Parent<C, D>), f, arg)`
+#define PYBIND11_TYPE(...) __VA_ARGS__
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/chrono.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/chrono.h
new file mode 100644
index 0000000..cbe9ace
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/chrono.h
@@ -0,0 +1,191 @@
+/*
+    pybind11/chrono.h: Transparent conversion between std::chrono and python's datetime
+
+    Copyright (c) 2016 Trent Houliston <trent@houliston.me> and
+                       Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+#include <cmath>
+#include <ctime>
+#include <chrono>
+#include <datetime.h>
+
+// Backport the PyDateTime_DELTA functions from Python3.3 if required
+#ifndef PyDateTime_DELTA_GET_DAYS
+#define PyDateTime_DELTA_GET_DAYS(o)         (((PyDateTime_Delta*)o)->days)
+#endif
+#ifndef PyDateTime_DELTA_GET_SECONDS
+#define PyDateTime_DELTA_GET_SECONDS(o)      (((PyDateTime_Delta*)o)->seconds)
+#endif
+#ifndef PyDateTime_DELTA_GET_MICROSECONDS
+#define PyDateTime_DELTA_GET_MICROSECONDS(o) (((PyDateTime_Delta*)o)->microseconds)
+#endif
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+template <typename type> class duration_caster {
+public:
+    typedef typename type::rep rep;
+    using period = typename type::period;
+
+    using days = std::chrono::duration<uint_fast32_t, std::ratio<86400>>;
+
+    bool load(handle src, bool) {
+        using namespace std::chrono;
+
+        // Lazy initialise the PyDateTime import
+        if (!PyDateTimeAPI) { PyDateTime_IMPORT; }
+
+        if (!src) return false;
+        // If invoked with datetime.delta object
+        if (PyDelta_Check(src.ptr())) {
+            value = type(duration_cast<duration<rep, period>>(
+                  days(PyDateTime_DELTA_GET_DAYS(src.ptr()))
+                + seconds(PyDateTime_DELTA_GET_SECONDS(src.ptr()))
+                + microseconds(PyDateTime_DELTA_GET_MICROSECONDS(src.ptr()))));
+            return true;
+        }
+        // If invoked with a float we assume it is seconds and convert
+        else if (PyFloat_Check(src.ptr())) {
+            value = type(duration_cast<duration<rep, period>>(duration<double>(PyFloat_AsDouble(src.ptr()))));
+            return true;
+        }
+        else return false;
+    }
+
+    // If this is a duration just return it back
+    static const std::chrono::duration<rep, period>& get_duration(const std::chrono::duration<rep, period> &src) {
+        return src;
+    }
+
+    // If this is a time_point get the time_since_epoch
+    template <typename Clock> static std::chrono::duration<rep, period> get_duration(const std::chrono::time_point<Clock, std::chrono::duration<rep, period>> &src) {
+        return src.time_since_epoch();
+    }
+
+    static handle cast(const type &src, return_value_policy /* policy */, handle /* parent */) {
+        using namespace std::chrono;
+
+        // Use overloaded function to get our duration from our source
+        // Works out if it is a duration or time_point and get the duration
+        auto d = get_duration(src);
+
+        // Lazy initialise the PyDateTime import
+        if (!PyDateTimeAPI) { PyDateTime_IMPORT; }
+
+        // Declare these special duration types so the conversions happen with the correct primitive types (int)
+        using dd_t = duration<int, std::ratio<86400>>;
+        using ss_t = duration<int, std::ratio<1>>;
+        using us_t = duration<int, std::micro>;
+
+        auto dd = duration_cast<dd_t>(d);
+        auto subd = d - dd;
+        auto ss = duration_cast<ss_t>(subd);
+        auto us = duration_cast<us_t>(subd - ss);
+        return PyDelta_FromDSU(dd.count(), ss.count(), us.count());
+    }
+
+    PYBIND11_TYPE_CASTER(type, _("datetime.timedelta"));
+};
+
+// This is for casting times on the system clock into datetime.datetime instances
+template <typename Duration> class type_caster<std::chrono::time_point<std::chrono::system_clock, Duration>> {
+public:
+    using type = std::chrono::time_point<std::chrono::system_clock, Duration>;
+    bool load(handle src, bool) {
+        using namespace std::chrono;
+
+        // Lazy initialise the PyDateTime import
+        if (!PyDateTimeAPI) { PyDateTime_IMPORT; }
+
+        if (!src) return false;
+
+        std::tm cal;
+        microseconds msecs;
+
+        if (PyDateTime_Check(src.ptr())) {
+            cal.tm_sec   = PyDateTime_DATE_GET_SECOND(src.ptr());
+            cal.tm_min   = PyDateTime_DATE_GET_MINUTE(src.ptr());
+            cal.tm_hour  = PyDateTime_DATE_GET_HOUR(src.ptr());
+            cal.tm_mday  = PyDateTime_GET_DAY(src.ptr());
+            cal.tm_mon   = PyDateTime_GET_MONTH(src.ptr()) - 1;
+            cal.tm_year  = PyDateTime_GET_YEAR(src.ptr()) - 1900;
+            cal.tm_isdst = -1;
+            msecs        = microseconds(PyDateTime_DATE_GET_MICROSECOND(src.ptr()));
+        } else if (PyDate_Check(src.ptr())) {
+            cal.tm_sec   = 0;
+            cal.tm_min   = 0;
+            cal.tm_hour  = 0;
+            cal.tm_mday  = PyDateTime_GET_DAY(src.ptr());
+            cal.tm_mon   = PyDateTime_GET_MONTH(src.ptr()) - 1;
+            cal.tm_year  = PyDateTime_GET_YEAR(src.ptr()) - 1900;
+            cal.tm_isdst = -1;
+            msecs        = microseconds(0);
+        } else if (PyTime_Check(src.ptr())) {
+            cal.tm_sec   = PyDateTime_TIME_GET_SECOND(src.ptr());
+            cal.tm_min   = PyDateTime_TIME_GET_MINUTE(src.ptr());
+            cal.tm_hour  = PyDateTime_TIME_GET_HOUR(src.ptr());
+            cal.tm_mday  = 1;   // This date (day, month, year) = (1, 0, 70)
+            cal.tm_mon   = 0;   // represents 1-Jan-1970, which is the first
+            cal.tm_year  = 70;  // earliest available date for Python's datetime
+            cal.tm_isdst = -1;
+            msecs        = microseconds(PyDateTime_TIME_GET_MICROSECOND(src.ptr()));
+        }
+        else return false;
+
+        value = time_point_cast<Duration>(system_clock::from_time_t(std::mktime(&cal)) + msecs);
+        return true;
+    }
+
+    static handle cast(const std::chrono::time_point<std::chrono::system_clock, Duration> &src, return_value_policy /* policy */, handle /* parent */) {
+        using namespace std::chrono;
+
+        // Lazy initialise the PyDateTime import
+        if (!PyDateTimeAPI) { PyDateTime_IMPORT; }
+
+        // Get out microseconds, and make sure they are positive, to avoid bug in eastern hemisphere time zones
+        // (cfr. https://github.com/pybind/pybind11/issues/2417)
+        using us_t = duration<int, std::micro>;
+        auto us = duration_cast<us_t>(src.time_since_epoch() % seconds(1));
+        if (us.count() < 0)
+            us += seconds(1);
+
+        // Subtract microseconds BEFORE `system_clock::to_time_t`, because:
+        // > If std::time_t has lower precision, it is implementation-defined whether the value is rounded or truncated.
+        // (https://en.cppreference.com/w/cpp/chrono/system_clock/to_time_t)
+        std::time_t tt = system_clock::to_time_t(time_point_cast<system_clock::duration>(src - us));
+        // this function uses static memory so it's best to copy it out asap just in case
+        // otherwise other code that is using localtime may break this (not just python code)
+        std::tm localtime = *std::localtime(&tt);
+
+        return PyDateTime_FromDateAndTime(localtime.tm_year + 1900,
+                                          localtime.tm_mon + 1,
+                                          localtime.tm_mday,
+                                          localtime.tm_hour,
+                                          localtime.tm_min,
+                                          localtime.tm_sec,
+                                          us.count());
+    }
+    PYBIND11_TYPE_CASTER(type, _("datetime.datetime"));
+};
+
+// Other clocks that are not the system clock are not measured as datetime.datetime objects
+// since they are not measured on calendar time. So instead we just make them timedeltas
+// Or if they have passed us a time as a float we convert that
+template <typename Clock, typename Duration> class type_caster<std::chrono::time_point<Clock, Duration>>
+: public duration_caster<std::chrono::time_point<Clock, Duration>> {
+};
+
+template <typename Rep, typename Period> class type_caster<std::chrono::duration<Rep, Period>>
+: public duration_caster<std::chrono::duration<Rep, Period>> {
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/common.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/common.h
new file mode 100644
index 0000000..6c8a4f1
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/common.h
@@ -0,0 +1,2 @@
+#include "detail/common.h"
+#warning "Including 'common.h' is deprecated. It will be removed in v3.0. Use 'pybind11.h'."
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/complex.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/complex.h
new file mode 100644
index 0000000..f8327eb
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/complex.h
@@ -0,0 +1,65 @@
+/*
+    pybind11/complex.h: Complex number support
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+#include <complex>
+
+/// glibc defines I as a macro which breaks things, e.g., boost template names
+#ifdef I
+#  undef I
+#endif
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+template <typename T> struct format_descriptor<std::complex<T>, detail::enable_if_t<std::is_floating_point<T>::value>> {
+    static constexpr const char c = format_descriptor<T>::c;
+    static constexpr const char value[3] = { 'Z', c, '\0' };
+    static std::string format() { return std::string(value); }
+};
+
+#ifndef PYBIND11_CPP17
+
+template <typename T> constexpr const char format_descriptor<
+    std::complex<T>, detail::enable_if_t<std::is_floating_point<T>::value>>::value[3];
+
+#endif
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+template <typename T> struct is_fmt_numeric<std::complex<T>, detail::enable_if_t<std::is_floating_point<T>::value>> {
+    static constexpr bool value = true;
+    static constexpr int index = is_fmt_numeric<T>::index + 3;
+};
+
+template <typename T> class type_caster<std::complex<T>> {
+public:
+    bool load(handle src, bool convert) {
+        if (!src)
+            return false;
+        if (!convert && !PyComplex_Check(src.ptr()))
+            return false;
+        Py_complex result = PyComplex_AsCComplex(src.ptr());
+        if (result.real == -1.0 && PyErr_Occurred()) {
+            PyErr_Clear();
+            return false;
+        }
+        value = std::complex<T>((T) result.real, (T) result.imag);
+        return true;
+    }
+
+    static handle cast(const std::complex<T> &src, return_value_policy /* policy */, handle /* parent */) {
+        return PyComplex_FromDoubles((double) src.real(), (double) src.imag());
+    }
+
+    PYBIND11_TYPE_CASTER(std::complex<T>, _("complex"));
+};
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/class.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/class.h
new file mode 100644
index 0000000..54a8573
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/class.h
@@ -0,0 +1,670 @@
+/*
+    pybind11/detail/class.h: Python C API implementation details for py::class_
+
+    Copyright (c) 2017 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "../attr.h"
+#include "../options.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+#if PY_VERSION_HEX >= 0x03030000 && !defined(PYPY_VERSION)
+#  define PYBIND11_BUILTIN_QUALNAME
+#  define PYBIND11_SET_OLDPY_QUALNAME(obj, nameobj)
+#else
+// In pre-3.3 Python, we still set __qualname__ so that we can produce reliable function type
+// signatures; in 3.3+ this macro expands to nothing:
+#  define PYBIND11_SET_OLDPY_QUALNAME(obj, nameobj) setattr((PyObject *) obj, "__qualname__", nameobj)
+#endif
+
+inline std::string get_fully_qualified_tp_name(PyTypeObject *type) {
+#if !defined(PYPY_VERSION)
+    return type->tp_name;
+#else
+    auto module_name = handle((PyObject *) type).attr("__module__").cast<std::string>();
+    if (module_name == PYBIND11_BUILTINS_MODULE)
+        return type->tp_name;
+    else
+        return std::move(module_name) + "." + type->tp_name;
+#endif
+}
+
+inline PyTypeObject *type_incref(PyTypeObject *type) {
+    Py_INCREF(type);
+    return type;
+}
+
+#if !defined(PYPY_VERSION)
+
+/// `pybind11_static_property.__get__()`: Always pass the class instead of the instance.
+extern "C" inline PyObject *pybind11_static_get(PyObject *self, PyObject * /*ob*/, PyObject *cls) {
+    return PyProperty_Type.tp_descr_get(self, cls, cls);
+}
+
+/// `pybind11_static_property.__set__()`: Just like the above `__get__()`.
+extern "C" inline int pybind11_static_set(PyObject *self, PyObject *obj, PyObject *value) {
+    PyObject *cls = PyType_Check(obj) ? obj : (PyObject *) Py_TYPE(obj);
+    return PyProperty_Type.tp_descr_set(self, cls, value);
+}
+
+/** A `static_property` is the same as a `property` but the `__get__()` and `__set__()`
+    methods are modified to always use the object type instead of a concrete instance.
+    Return value: New reference. */
+inline PyTypeObject *make_static_property_type() {
+    constexpr auto *name = "pybind11_static_property";
+    auto name_obj = reinterpret_steal<object>(PYBIND11_FROM_STRING(name));
+
+    /* Danger zone: from now (and until PyType_Ready), make sure to
+       issue no Python C API calls which could potentially invoke the
+       garbage collector (the GC will call type_traverse(), which will in
+       turn find the newly constructed type in an invalid state) */
+    auto heap_type = (PyHeapTypeObject *) PyType_Type.tp_alloc(&PyType_Type, 0);
+    if (!heap_type)
+        pybind11_fail("make_static_property_type(): error allocating type!");
+
+    heap_type->ht_name = name_obj.inc_ref().ptr();
+#ifdef PYBIND11_BUILTIN_QUALNAME
+    heap_type->ht_qualname = name_obj.inc_ref().ptr();
+#endif
+
+    auto type = &heap_type->ht_type;
+    type->tp_name = name;
+    type->tp_base = type_incref(&PyProperty_Type);
+    type->tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE;
+    type->tp_descr_get = pybind11_static_get;
+    type->tp_descr_set = pybind11_static_set;
+
+    if (PyType_Ready(type) < 0)
+        pybind11_fail("make_static_property_type(): failure in PyType_Ready()!");
+
+    setattr((PyObject *) type, "__module__", str("pybind11_builtins"));
+    PYBIND11_SET_OLDPY_QUALNAME(type, name_obj);
+
+    return type;
+}
+
+#else // PYPY
+
+/** PyPy has some issues with the above C API, so we evaluate Python code instead.
+    This function will only be called once so performance isn't really a concern.
+    Return value: New reference. */
+inline PyTypeObject *make_static_property_type() {
+    auto d = dict();
+    PyObject *result = PyRun_String(R"(\
+        class pybind11_static_property(property):
+            def __get__(self, obj, cls):
+                return property.__get__(self, cls, cls)
+
+            def __set__(self, obj, value):
+                cls = obj if isinstance(obj, type) else type(obj)
+                property.__set__(self, cls, value)
+        )", Py_file_input, d.ptr(), d.ptr()
+    );
+    if (result == nullptr)
+        throw error_already_set();
+    Py_DECREF(result);
+    return (PyTypeObject *) d["pybind11_static_property"].cast<object>().release().ptr();
+}
+
+#endif // PYPY
+
+/** Types with static properties need to handle `Type.static_prop = x` in a specific way.
+    By default, Python replaces the `static_property` itself, but for wrapped C++ types
+    we need to call `static_property.__set__()` in order to propagate the new value to
+    the underlying C++ data structure. */
+extern "C" inline int pybind11_meta_setattro(PyObject* obj, PyObject* name, PyObject* value) {
+    // Use `_PyType_Lookup()` instead of `PyObject_GetAttr()` in order to get the raw
+    // descriptor (`property`) instead of calling `tp_descr_get` (`property.__get__()`).
+    PyObject *descr = _PyType_Lookup((PyTypeObject *) obj, name);
+
+    // The following assignment combinations are possible:
+    //   1. `Type.static_prop = value`             --> descr_set: `Type.static_prop.__set__(value)`
+    //   2. `Type.static_prop = other_static_prop` --> setattro:  replace existing `static_prop`
+    //   3. `Type.regular_attribute = value`       --> setattro:  regular attribute assignment
+    const auto static_prop = (PyObject *) get_internals().static_property_type;
+    const auto call_descr_set = descr && PyObject_IsInstance(descr, static_prop)
+                                && !PyObject_IsInstance(value, static_prop);
+    if (call_descr_set) {
+        // Call `static_property.__set__()` instead of replacing the `static_property`.
+#if !defined(PYPY_VERSION)
+        return Py_TYPE(descr)->tp_descr_set(descr, obj, value);
+#else
+        if (PyObject *result = PyObject_CallMethod(descr, "__set__", "OO", obj, value)) {
+            Py_DECREF(result);
+            return 0;
+        } else {
+            return -1;
+        }
+#endif
+    } else {
+        // Replace existing attribute.
+        return PyType_Type.tp_setattro(obj, name, value);
+    }
+}
+
+#if PY_MAJOR_VERSION >= 3
+/**
+ * Python 3's PyInstanceMethod_Type hides itself via its tp_descr_get, which prevents aliasing
+ * methods via cls.attr("m2") = cls.attr("m1"): instead the tp_descr_get returns a plain function,
+ * when called on a class, or a PyMethod, when called on an instance.  Override that behaviour here
+ * to do a special case bypass for PyInstanceMethod_Types.
+ */
+extern "C" inline PyObject *pybind11_meta_getattro(PyObject *obj, PyObject *name) {
+    PyObject *descr = _PyType_Lookup((PyTypeObject *) obj, name);
+    if (descr && PyInstanceMethod_Check(descr)) {
+        Py_INCREF(descr);
+        return descr;
+    }
+    else {
+        return PyType_Type.tp_getattro(obj, name);
+    }
+}
+#endif
+
+/// metaclass `__call__` function that is used to create all pybind11 objects.
+extern "C" inline PyObject *pybind11_meta_call(PyObject *type, PyObject *args, PyObject *kwargs) {
+
+    // use the default metaclass call to create/initialize the object
+    PyObject *self = PyType_Type.tp_call(type, args, kwargs);
+    if (self == nullptr) {
+        return nullptr;
+    }
+
+    // This must be a pybind11 instance
+    auto instance = reinterpret_cast<detail::instance *>(self);
+
+    // Ensure that the base __init__ function(s) were called
+    for (const auto &vh : values_and_holders(instance)) {
+        if (!vh.holder_constructed()) {
+            PyErr_Format(PyExc_TypeError, "%.200s.__init__() must be called when overriding __init__",
+                         get_fully_qualified_tp_name(vh.type->type).c_str());
+            Py_DECREF(self);
+            return nullptr;
+        }
+    }
+
+    return self;
+}
+
+/** This metaclass is assigned by default to all pybind11 types and is required in order
+    for static properties to function correctly. Users may override this using `py::metaclass`.
+    Return value: New reference. */
+inline PyTypeObject* make_default_metaclass() {
+    constexpr auto *name = "pybind11_type";
+    auto name_obj = reinterpret_steal<object>(PYBIND11_FROM_STRING(name));
+
+    /* Danger zone: from now (and until PyType_Ready), make sure to
+       issue no Python C API calls which could potentially invoke the
+       garbage collector (the GC will call type_traverse(), which will in
+       turn find the newly constructed type in an invalid state) */
+    auto heap_type = (PyHeapTypeObject *) PyType_Type.tp_alloc(&PyType_Type, 0);
+    if (!heap_type)
+        pybind11_fail("make_default_metaclass(): error allocating metaclass!");
+
+    heap_type->ht_name = name_obj.inc_ref().ptr();
+#ifdef PYBIND11_BUILTIN_QUALNAME
+    heap_type->ht_qualname = name_obj.inc_ref().ptr();
+#endif
+
+    auto type = &heap_type->ht_type;
+    type->tp_name = name;
+    type->tp_base = type_incref(&PyType_Type);
+    type->tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE;
+
+    type->tp_call = pybind11_meta_call;
+
+    type->tp_setattro = pybind11_meta_setattro;
+#if PY_MAJOR_VERSION >= 3
+    type->tp_getattro = pybind11_meta_getattro;
+#endif
+
+    if (PyType_Ready(type) < 0)
+        pybind11_fail("make_default_metaclass(): failure in PyType_Ready()!");
+
+    setattr((PyObject *) type, "__module__", str("pybind11_builtins"));
+    PYBIND11_SET_OLDPY_QUALNAME(type, name_obj);
+
+    return type;
+}
+
+/// For multiple inheritance types we need to recursively register/deregister base pointers for any
+/// base classes with pointers that are difference from the instance value pointer so that we can
+/// correctly recognize an offset base class pointer. This calls a function with any offset base ptrs.
+inline void traverse_offset_bases(void *valueptr, const detail::type_info *tinfo, instance *self,
+        bool (*f)(void * /*parentptr*/, instance * /*self*/)) {
+    for (handle h : reinterpret_borrow<tuple>(tinfo->type->tp_bases)) {
+        if (auto parent_tinfo = get_type_info((PyTypeObject *) h.ptr())) {
+            for (auto &c : parent_tinfo->implicit_casts) {
+                if (c.first == tinfo->cpptype) {
+                    auto *parentptr = c.second(valueptr);
+                    if (parentptr != valueptr)
+                        f(parentptr, self);
+                    traverse_offset_bases(parentptr, parent_tinfo, self, f);
+                    break;
+                }
+            }
+        }
+    }
+}
+
+inline bool register_instance_impl(void *ptr, instance *self) {
+    get_internals().registered_instances.emplace(ptr, self);
+    return true; // unused, but gives the same signature as the deregister func
+}
+inline bool deregister_instance_impl(void *ptr, instance *self) {
+    auto &registered_instances = get_internals().registered_instances;
+    auto range = registered_instances.equal_range(ptr);
+    for (auto it = range.first; it != range.second; ++it) {
+        if (self == it->second) {
+            registered_instances.erase(it);
+            return true;
+        }
+    }
+    return false;
+}
+
+inline void register_instance(instance *self, void *valptr, const type_info *tinfo) {
+    register_instance_impl(valptr, self);
+    if (!tinfo->simple_ancestors)
+        traverse_offset_bases(valptr, tinfo, self, register_instance_impl);
+}
+
+inline bool deregister_instance(instance *self, void *valptr, const type_info *tinfo) {
+    bool ret = deregister_instance_impl(valptr, self);
+    if (!tinfo->simple_ancestors)
+        traverse_offset_bases(valptr, tinfo, self, deregister_instance_impl);
+    return ret;
+}
+
+/// Instance creation function for all pybind11 types. It allocates the internal instance layout for
+/// holding C++ objects and holders.  Allocation is done lazily (the first time the instance is cast
+/// to a reference or pointer), and initialization is done by an `__init__` function.
+inline PyObject *make_new_instance(PyTypeObject *type) {
+#if defined(PYPY_VERSION)
+    // PyPy gets tp_basicsize wrong (issue 2482) under multiple inheritance when the first inherited
+    // object is a a plain Python type (i.e. not derived from an extension type).  Fix it.
+    ssize_t instance_size = static_cast<ssize_t>(sizeof(instance));
+    if (type->tp_basicsize < instance_size) {
+        type->tp_basicsize = instance_size;
+    }
+#endif
+    PyObject *self = type->tp_alloc(type, 0);
+    auto inst = reinterpret_cast<instance *>(self);
+    // Allocate the value/holder internals:
+    inst->allocate_layout();
+
+    inst->owned = true;
+
+    return self;
+}
+
+/// Instance creation function for all pybind11 types. It only allocates space for the
+/// C++ object, but doesn't call the constructor -- an `__init__` function must do that.
+extern "C" inline PyObject *pybind11_object_new(PyTypeObject *type, PyObject *, PyObject *) {
+    return make_new_instance(type);
+}
+
+/// An `__init__` function constructs the C++ object. Users should provide at least one
+/// of these using `py::init` or directly with `.def(__init__, ...)`. Otherwise, the
+/// following default function will be used which simply throws an exception.
+extern "C" inline int pybind11_object_init(PyObject *self, PyObject *, PyObject *) {
+    PyTypeObject *type = Py_TYPE(self);
+    std::string msg = get_fully_qualified_tp_name(type) + ": No constructor defined!";
+    PyErr_SetString(PyExc_TypeError, msg.c_str());
+    return -1;
+}
+
+inline void add_patient(PyObject *nurse, PyObject *patient) {
+    auto &internals = get_internals();
+    auto instance = reinterpret_cast<detail::instance *>(nurse);
+    instance->has_patients = true;
+    Py_INCREF(patient);
+    internals.patients[nurse].push_back(patient);
+}
+
+inline void clear_patients(PyObject *self) {
+    auto instance = reinterpret_cast<detail::instance *>(self);
+    auto &internals = get_internals();
+    auto pos = internals.patients.find(self);
+    assert(pos != internals.patients.end());
+    // Clearing the patients can cause more Python code to run, which
+    // can invalidate the iterator. Extract the vector of patients
+    // from the unordered_map first.
+    auto patients = std::move(pos->second);
+    internals.patients.erase(pos);
+    instance->has_patients = false;
+    for (PyObject *&patient : patients)
+        Py_CLEAR(patient);
+}
+
+/// Clears all internal data from the instance and removes it from registered instances in
+/// preparation for deallocation.
+inline void clear_instance(PyObject *self) {
+    auto instance = reinterpret_cast<detail::instance *>(self);
+
+    // Deallocate any values/holders, if present:
+    for (auto &v_h : values_and_holders(instance)) {
+        if (v_h) {
+
+            // We have to deregister before we call dealloc because, for virtual MI types, we still
+            // need to be able to get the parent pointers.
+            if (v_h.instance_registered() && !deregister_instance(instance, v_h.value_ptr(), v_h.type))
+                pybind11_fail("pybind11_object_dealloc(): Tried to deallocate unregistered instance!");
+
+            if (instance->owned || v_h.holder_constructed())
+                v_h.type->dealloc(v_h);
+        }
+    }
+    // Deallocate the value/holder layout internals:
+    instance->deallocate_layout();
+
+    if (instance->weakrefs)
+        PyObject_ClearWeakRefs(self);
+
+    PyObject **dict_ptr = _PyObject_GetDictPtr(self);
+    if (dict_ptr)
+        Py_CLEAR(*dict_ptr);
+
+    if (instance->has_patients)
+        clear_patients(self);
+}
+
+/// Instance destructor function for all pybind11 types. It calls `type_info.dealloc`
+/// to destroy the C++ object itself, while the rest is Python bookkeeping.
+extern "C" inline void pybind11_object_dealloc(PyObject *self) {
+    clear_instance(self);
+
+    auto type = Py_TYPE(self);
+    type->tp_free(self);
+
+#if PY_VERSION_HEX < 0x03080000
+    // `type->tp_dealloc != pybind11_object_dealloc` means that we're being called
+    // as part of a derived type's dealloc, in which case we're not allowed to decref
+    // the type here. For cross-module compatibility, we shouldn't compare directly
+    // with `pybind11_object_dealloc`, but with the common one stashed in internals.
+    auto pybind11_object_type = (PyTypeObject *) get_internals().instance_base;
+    if (type->tp_dealloc == pybind11_object_type->tp_dealloc)
+        Py_DECREF(type);
+#else
+    // This was not needed before Python 3.8 (Python issue 35810)
+    // https://github.com/pybind/pybind11/issues/1946
+    Py_DECREF(type);
+#endif
+}
+
+/** Create the type which can be used as a common base for all classes.  This is
+    needed in order to satisfy Python's requirements for multiple inheritance.
+    Return value: New reference. */
+inline PyObject *make_object_base_type(PyTypeObject *metaclass) {
+    constexpr auto *name = "pybind11_object";
+    auto name_obj = reinterpret_steal<object>(PYBIND11_FROM_STRING(name));
+
+    /* Danger zone: from now (and until PyType_Ready), make sure to
+       issue no Python C API calls which could potentially invoke the
+       garbage collector (the GC will call type_traverse(), which will in
+       turn find the newly constructed type in an invalid state) */
+    auto heap_type = (PyHeapTypeObject *) metaclass->tp_alloc(metaclass, 0);
+    if (!heap_type)
+        pybind11_fail("make_object_base_type(): error allocating type!");
+
+    heap_type->ht_name = name_obj.inc_ref().ptr();
+#ifdef PYBIND11_BUILTIN_QUALNAME
+    heap_type->ht_qualname = name_obj.inc_ref().ptr();
+#endif
+
+    auto type = &heap_type->ht_type;
+    type->tp_name = name;
+    type->tp_base = type_incref(&PyBaseObject_Type);
+    type->tp_basicsize = static_cast<ssize_t>(sizeof(instance));
+    type->tp_flags = Py_TPFLAGS_DEFAULT | Py_TPFLAGS_BASETYPE | Py_TPFLAGS_HEAPTYPE;
+
+    type->tp_new = pybind11_object_new;
+    type->tp_init = pybind11_object_init;
+    type->tp_dealloc = pybind11_object_dealloc;
+
+    /* Support weak references (needed for the keep_alive feature) */
+    type->tp_weaklistoffset = offsetof(instance, weakrefs);
+
+    if (PyType_Ready(type) < 0)
+        pybind11_fail("PyType_Ready failed in make_object_base_type():" + error_string());
+
+    setattr((PyObject *) type, "__module__", str("pybind11_builtins"));
+    PYBIND11_SET_OLDPY_QUALNAME(type, name_obj);
+
+    assert(!PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC));
+    return (PyObject *) heap_type;
+}
+
+/// dynamic_attr: Support for `d = instance.__dict__`.
+extern "C" inline PyObject *pybind11_get_dict(PyObject *self, void *) {
+    PyObject *&dict = *_PyObject_GetDictPtr(self);
+    if (!dict)
+        dict = PyDict_New();
+    Py_XINCREF(dict);
+    return dict;
+}
+
+/// dynamic_attr: Support for `instance.__dict__ = dict()`.
+extern "C" inline int pybind11_set_dict(PyObject *self, PyObject *new_dict, void *) {
+    if (!PyDict_Check(new_dict)) {
+        PyErr_Format(PyExc_TypeError, "__dict__ must be set to a dictionary, not a '%.200s'",
+                     get_fully_qualified_tp_name(Py_TYPE(new_dict)).c_str());
+        return -1;
+    }
+    PyObject *&dict = *_PyObject_GetDictPtr(self);
+    Py_INCREF(new_dict);
+    Py_CLEAR(dict);
+    dict = new_dict;
+    return 0;
+}
+
+/// dynamic_attr: Allow the garbage collector to traverse the internal instance `__dict__`.
+extern "C" inline int pybind11_traverse(PyObject *self, visitproc visit, void *arg) {
+    PyObject *&dict = *_PyObject_GetDictPtr(self);
+    Py_VISIT(dict);
+    return 0;
+}
+
+/// dynamic_attr: Allow the GC to clear the dictionary.
+extern "C" inline int pybind11_clear(PyObject *self) {
+    PyObject *&dict = *_PyObject_GetDictPtr(self);
+    Py_CLEAR(dict);
+    return 0;
+}
+
+/// Give instances of this type a `__dict__` and opt into garbage collection.
+inline void enable_dynamic_attributes(PyHeapTypeObject *heap_type) {
+    auto type = &heap_type->ht_type;
+    type->tp_flags |= Py_TPFLAGS_HAVE_GC;
+    type->tp_dictoffset = type->tp_basicsize; // place dict at the end
+    type->tp_basicsize += (ssize_t)sizeof(PyObject *); // and allocate enough space for it
+    type->tp_traverse = pybind11_traverse;
+    type->tp_clear = pybind11_clear;
+
+    static PyGetSetDef getset[] = {
+        {const_cast<char*>("__dict__"), pybind11_get_dict, pybind11_set_dict, nullptr, nullptr},
+        {nullptr, nullptr, nullptr, nullptr, nullptr}
+    };
+    type->tp_getset = getset;
+}
+
+/// buffer_protocol: Fill in the view as specified by flags.
+extern "C" inline int pybind11_getbuffer(PyObject *obj, Py_buffer *view, int flags) {
+    // Look for a `get_buffer` implementation in this type's info or any bases (following MRO).
+    type_info *tinfo = nullptr;
+    for (auto type : reinterpret_borrow<tuple>(Py_TYPE(obj)->tp_mro)) {
+        tinfo = get_type_info((PyTypeObject *) type.ptr());
+        if (tinfo && tinfo->get_buffer)
+            break;
+    }
+    if (view == nullptr || !tinfo || !tinfo->get_buffer) {
+        if (view)
+            view->obj = nullptr;
+        PyErr_SetString(PyExc_BufferError, "pybind11_getbuffer(): Internal error");
+        return -1;
+    }
+    std::memset(view, 0, sizeof(Py_buffer));
+    buffer_info *info = tinfo->get_buffer(obj, tinfo->get_buffer_data);
+    view->obj = obj;
+    view->ndim = 1;
+    view->internal = info;
+    view->buf = info->ptr;
+    view->itemsize = info->itemsize;
+    view->len = view->itemsize;
+    for (auto s : info->shape)
+        view->len *= s;
+    view->readonly = info->readonly;
+    if ((flags & PyBUF_WRITABLE) == PyBUF_WRITABLE && info->readonly) {
+        if (view)
+            view->obj = nullptr;
+        PyErr_SetString(PyExc_BufferError, "Writable buffer requested for readonly storage");
+        return -1;
+    }
+    if ((flags & PyBUF_FORMAT) == PyBUF_FORMAT)
+        view->format = const_cast<char *>(info->format.c_str());
+    if ((flags & PyBUF_STRIDES) == PyBUF_STRIDES) {
+        view->ndim = (int) info->ndim;
+        view->strides = &info->strides[0];
+        view->shape = &info->shape[0];
+    }
+    Py_INCREF(view->obj);
+    return 0;
+}
+
+/// buffer_protocol: Release the resources of the buffer.
+extern "C" inline void pybind11_releasebuffer(PyObject *, Py_buffer *view) {
+    delete (buffer_info *) view->internal;
+}
+
+/// Give this type a buffer interface.
+inline void enable_buffer_protocol(PyHeapTypeObject *heap_type) {
+    heap_type->ht_type.tp_as_buffer = &heap_type->as_buffer;
+#if PY_MAJOR_VERSION < 3
+    heap_type->ht_type.tp_flags |= Py_TPFLAGS_HAVE_NEWBUFFER;
+#endif
+
+    heap_type->as_buffer.bf_getbuffer = pybind11_getbuffer;
+    heap_type->as_buffer.bf_releasebuffer = pybind11_releasebuffer;
+}
+
+/** Create a brand new Python type according to the `type_record` specification.
+    Return value: New reference. */
+inline PyObject* make_new_python_type(const type_record &rec) {
+    auto name = reinterpret_steal<object>(PYBIND11_FROM_STRING(rec.name));
+
+    auto qualname = name;
+    if (rec.scope && !PyModule_Check(rec.scope.ptr()) && hasattr(rec.scope, "__qualname__")) {
+#if PY_MAJOR_VERSION >= 3
+        qualname = reinterpret_steal<object>(
+            PyUnicode_FromFormat("%U.%U", rec.scope.attr("__qualname__").ptr(), name.ptr()));
+#else
+        qualname = str(rec.scope.attr("__qualname__").cast<std::string>() + "." + rec.name);
+#endif
+    }
+
+    object module_;
+    if (rec.scope) {
+        if (hasattr(rec.scope, "__module__"))
+            module_ = rec.scope.attr("__module__");
+        else if (hasattr(rec.scope, "__name__"))
+            module_ = rec.scope.attr("__name__");
+    }
+
+    auto full_name = c_str(
+#if !defined(PYPY_VERSION)
+        module_ ? str(module_).cast<std::string>() + "." + rec.name :
+#endif
+        rec.name);
+
+    char *tp_doc = nullptr;
+    if (rec.doc && options::show_user_defined_docstrings()) {
+        /* Allocate memory for docstring (using PyObject_MALLOC, since
+           Python will free this later on) */
+        size_t size = strlen(rec.doc) + 1;
+        tp_doc = (char *) PyObject_MALLOC(size);
+        memcpy((void *) tp_doc, rec.doc, size);
+    }
+
+    auto &internals = get_internals();
+    auto bases = tuple(rec.bases);
+    auto base = (bases.empty()) ? internals.instance_base
+                                    : bases[0].ptr();
+
+    /* Danger zone: from now (and until PyType_Ready), make sure to
+       issue no Python C API calls which could potentially invoke the
+       garbage collector (the GC will call type_traverse(), which will in
+       turn find the newly constructed type in an invalid state) */
+    auto metaclass = rec.metaclass.ptr() ? (PyTypeObject *) rec.metaclass.ptr()
+                                         : internals.default_metaclass;
+
+    auto heap_type = (PyHeapTypeObject *) metaclass->tp_alloc(metaclass, 0);
+    if (!heap_type)
+        pybind11_fail(std::string(rec.name) + ": Unable to create type object!");
+
+    heap_type->ht_name = name.release().ptr();
+#ifdef PYBIND11_BUILTIN_QUALNAME
+    heap_type->ht_qualname = qualname.inc_ref().ptr();
+#endif
+
+    auto type = &heap_type->ht_type;
+    type->tp_name = full_name;
+    type->tp_doc = tp_doc;
+    type->tp_base = type_incref((PyTypeObject *)base);
+    type->tp_basicsize = static_cast<ssize_t>(sizeof(instance));
+    if (!bases.empty())
+        type->tp_bases = bases.release().ptr();
+
+    /* Don't inherit base __init__ */
+    type->tp_init = pybind11_object_init;
+
+    /* Supported protocols */
+    type->tp_as_number = &heap_type->as_number;
+    type->tp_as_sequence = &heap_type->as_sequence;
+    type->tp_as_mapping = &heap_type->as_mapping;
+#if PY_VERSION_HEX >= 0x03050000
+    type->tp_as_async = &heap_type->as_async;
+#endif
+
+    /* Flags */
+    type->tp_flags |= Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HEAPTYPE;
+#if PY_MAJOR_VERSION < 3
+    type->tp_flags |= Py_TPFLAGS_CHECKTYPES;
+#endif
+    if (!rec.is_final)
+        type->tp_flags |= Py_TPFLAGS_BASETYPE;
+
+    if (rec.dynamic_attr)
+        enable_dynamic_attributes(heap_type);
+
+    if (rec.buffer_protocol)
+        enable_buffer_protocol(heap_type);
+
+    if (PyType_Ready(type) < 0)
+        pybind11_fail(std::string(rec.name) + ": PyType_Ready failed (" + error_string() + ")!");
+
+    assert(rec.dynamic_attr ? PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC)
+                            : !PyType_HasFeature(type, Py_TPFLAGS_HAVE_GC));
+
+    /* Register type with the parent scope */
+    if (rec.scope)
+        setattr(rec.scope, rec.name, (PyObject *) type);
+    else
+        Py_INCREF(type); // Keep it alive forever (reference leak)
+
+    if (module_) // Needed by pydoc
+        setattr((PyObject *) type, "__module__", module_);
+
+    PYBIND11_SET_OLDPY_QUALNAME(type, qualname);
+
+    return (PyObject *) type;
+}
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/common.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/common.h
new file mode 100644
index 0000000..4a75c21
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/common.h
@@ -0,0 +1,853 @@
+/*
+    pybind11/detail/common.h -- Basic macros
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#define PYBIND11_VERSION_MAJOR 2
+#define PYBIND11_VERSION_MINOR 6
+#define PYBIND11_VERSION_PATCH 0rc1
+
+#define PYBIND11_NAMESPACE_BEGIN(name) namespace name {
+#define PYBIND11_NAMESPACE_END(name) }
+
+// Robust support for some features and loading modules compiled against different pybind versions
+// requires forcing hidden visibility on pybind code, so we enforce this by setting the attribute on
+// the main `pybind11` namespace.
+#if !defined(PYBIND11_NAMESPACE)
+#  ifdef __GNUG__
+#    define PYBIND11_NAMESPACE pybind11 __attribute__((visibility("hidden")))
+#  else
+#    define PYBIND11_NAMESPACE pybind11
+#  endif
+#endif
+
+#if !(defined(_MSC_VER) && __cplusplus == 199711L) && !defined(__INTEL_COMPILER)
+#  if __cplusplus >= 201402L
+#    define PYBIND11_CPP14
+#    if __cplusplus >= 201703L
+#      define PYBIND11_CPP17
+#    endif
+#  endif
+#elif defined(_MSC_VER) && __cplusplus == 199711L
+// MSVC sets _MSVC_LANG rather than __cplusplus (supposedly until the standard is fully implemented)
+// Unless you use the /Zc:__cplusplus flag on Visual Studio 2017 15.7 Preview 3 or newer
+#  if _MSVC_LANG >= 201402L
+#    define PYBIND11_CPP14
+#    if _MSVC_LANG > 201402L && _MSC_VER >= 1910
+#      define PYBIND11_CPP17
+#    endif
+#  endif
+#endif
+
+// Compiler version assertions
+#if defined(__INTEL_COMPILER)
+#  if __INTEL_COMPILER < 1700
+#    error pybind11 requires Intel C++ compiler v17 or newer
+#  endif
+#elif defined(__clang__) && !defined(__apple_build_version__)
+#  if __clang_major__ < 3 || (__clang_major__ == 3 && __clang_minor__ < 3)
+#    error pybind11 requires clang 3.3 or newer
+#  endif
+#elif defined(__clang__)
+// Apple changes clang version macros to its Xcode version; the first Xcode release based on
+// (upstream) clang 3.3 was Xcode 5:
+#  if __clang_major__ < 5
+#    error pybind11 requires Xcode/clang 5.0 or newer
+#  endif
+#elif defined(__GNUG__)
+#  if __GNUC__ < 4 || (__GNUC__ == 4 && __GNUC_MINOR__ < 8)
+#    error pybind11 requires gcc 4.8 or newer
+#  endif
+#elif defined(_MSC_VER)
+// Pybind hits various compiler bugs in 2015u2 and earlier, and also makes use of some stl features
+// (e.g. std::negation) added in 2015u3:
+#  if _MSC_FULL_VER < 190024210
+#    error pybind11 requires MSVC 2015 update 3 or newer
+#  endif
+#endif
+
+#if !defined(PYBIND11_EXPORT)
+#  if defined(WIN32) || defined(_WIN32)
+#    define PYBIND11_EXPORT __declspec(dllexport)
+#  else
+#    define PYBIND11_EXPORT __attribute__ ((visibility("default")))
+#  endif
+#endif
+
+#if defined(_MSC_VER)
+#  define PYBIND11_NOINLINE __declspec(noinline)
+#else
+#  define PYBIND11_NOINLINE __attribute__ ((noinline))
+#endif
+
+#if defined(PYBIND11_CPP14)
+#  define PYBIND11_DEPRECATED(reason) [[deprecated(reason)]]
+#else
+#  define PYBIND11_DEPRECATED(reason) __attribute__((deprecated(reason)))
+#endif
+
+#if defined(PYBIND11_CPP17)
+#  define PYBIND11_MAYBE_UNUSED [[maybe_unused]]
+#elif defined(_MSC_VER) && !defined(__clang__)
+#  define PYBIND11_MAYBE_UNUSED
+#else
+#  define PYBIND11_MAYBE_UNUSED __attribute__ ((__unused__))
+#endif
+
+/* Don't let Python.h #define (v)snprintf as macro because they are implemented
+   properly in Visual Studio since 2015. */
+#if defined(_MSC_VER) && _MSC_VER >= 1900
+#  define HAVE_SNPRINTF 1
+#endif
+
+/// Include Python header, disable linking to pythonX_d.lib on Windows in debug mode
+#if defined(_MSC_VER)
+#  if (PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION < 4)
+#    define HAVE_ROUND 1
+#  endif
+#  pragma warning(push)
+#  pragma warning(disable: 4510 4610 4512 4005)
+#  if defined(_DEBUG) && !defined(Py_DEBUG)
+#    define PYBIND11_DEBUG_MARKER
+#    undef _DEBUG
+#  endif
+#endif
+
+#include <Python.h>
+#include <frameobject.h>
+#include <pythread.h>
+
+/* Python #defines overrides on all sorts of core functions, which
+   tends to weak havok in C++ codebases that expect these to work
+   like regular functions (potentially with several overloads) */
+#if defined(isalnum)
+#  undef isalnum
+#  undef isalpha
+#  undef islower
+#  undef isspace
+#  undef isupper
+#  undef tolower
+#  undef toupper
+#endif
+
+#if defined(copysign)
+#  undef copysign
+#endif
+
+#if defined(_MSC_VER)
+#  if defined(PYBIND11_DEBUG_MARKER)
+#    define _DEBUG
+#    undef PYBIND11_DEBUG_MARKER
+#  endif
+#  pragma warning(pop)
+#endif
+
+#include <cstddef>
+#include <cstring>
+#include <forward_list>
+#include <vector>
+#include <string>
+#include <stdexcept>
+#include <exception>
+#include <unordered_set>
+#include <unordered_map>
+#include <memory>
+#include <typeindex>
+#include <type_traits>
+
+#if PY_MAJOR_VERSION >= 3 /// Compatibility macros for various Python versions
+#define PYBIND11_INSTANCE_METHOD_NEW(ptr, class_) PyInstanceMethod_New(ptr)
+#define PYBIND11_INSTANCE_METHOD_CHECK PyInstanceMethod_Check
+#define PYBIND11_INSTANCE_METHOD_GET_FUNCTION PyInstanceMethod_GET_FUNCTION
+#define PYBIND11_BYTES_CHECK PyBytes_Check
+#define PYBIND11_BYTES_FROM_STRING PyBytes_FromString
+#define PYBIND11_BYTES_FROM_STRING_AND_SIZE PyBytes_FromStringAndSize
+#define PYBIND11_BYTES_AS_STRING_AND_SIZE PyBytes_AsStringAndSize
+#define PYBIND11_BYTES_AS_STRING PyBytes_AsString
+#define PYBIND11_BYTES_SIZE PyBytes_Size
+#define PYBIND11_LONG_CHECK(o) PyLong_Check(o)
+#define PYBIND11_LONG_AS_LONGLONG(o) PyLong_AsLongLong(o)
+#define PYBIND11_LONG_FROM_SIGNED(o) PyLong_FromSsize_t((ssize_t) o)
+#define PYBIND11_LONG_FROM_UNSIGNED(o) PyLong_FromSize_t((size_t) o)
+#define PYBIND11_BYTES_NAME "bytes"
+#define PYBIND11_STRING_NAME "str"
+#define PYBIND11_SLICE_OBJECT PyObject
+#define PYBIND11_FROM_STRING PyUnicode_FromString
+#define PYBIND11_STR_TYPE ::pybind11::str
+#define PYBIND11_BOOL_ATTR "__bool__"
+#define PYBIND11_NB_BOOL(ptr) ((ptr)->nb_bool)
+#define PYBIND11_BUILTINS_MODULE "builtins"
+// Providing a separate declaration to make Clang's -Wmissing-prototypes happy.
+// See comment for PYBIND11_MODULE below for why this is marked "maybe unused".
+#define PYBIND11_PLUGIN_IMPL(name) \
+    extern "C" PYBIND11_MAYBE_UNUSED PYBIND11_EXPORT PyObject *PyInit_##name(); \
+    extern "C" PYBIND11_EXPORT PyObject *PyInit_##name()
+
+#else
+#define PYBIND11_INSTANCE_METHOD_NEW(ptr, class_) PyMethod_New(ptr, nullptr, class_)
+#define PYBIND11_INSTANCE_METHOD_CHECK PyMethod_Check
+#define PYBIND11_INSTANCE_METHOD_GET_FUNCTION PyMethod_GET_FUNCTION
+#define PYBIND11_BYTES_CHECK PyString_Check
+#define PYBIND11_BYTES_FROM_STRING PyString_FromString
+#define PYBIND11_BYTES_FROM_STRING_AND_SIZE PyString_FromStringAndSize
+#define PYBIND11_BYTES_AS_STRING_AND_SIZE PyString_AsStringAndSize
+#define PYBIND11_BYTES_AS_STRING PyString_AsString
+#define PYBIND11_BYTES_SIZE PyString_Size
+#define PYBIND11_LONG_CHECK(o) (PyInt_Check(o) || PyLong_Check(o))
+#define PYBIND11_LONG_AS_LONGLONG(o) (PyInt_Check(o) ? (long long) PyLong_AsLong(o) : PyLong_AsLongLong(o))
+#define PYBIND11_LONG_FROM_SIGNED(o) PyInt_FromSsize_t((ssize_t) o) // Returns long if needed.
+#define PYBIND11_LONG_FROM_UNSIGNED(o) PyInt_FromSize_t((size_t) o) // Returns long if needed.
+#define PYBIND11_BYTES_NAME "str"
+#define PYBIND11_STRING_NAME "unicode"
+#define PYBIND11_SLICE_OBJECT PySliceObject
+#define PYBIND11_FROM_STRING PyString_FromString
+#define PYBIND11_STR_TYPE ::pybind11::bytes
+#define PYBIND11_BOOL_ATTR "__nonzero__"
+#define PYBIND11_NB_BOOL(ptr) ((ptr)->nb_nonzero)
+#define PYBIND11_BUILTINS_MODULE "__builtin__"
+// Providing a separate PyInit decl to make Clang's -Wmissing-prototypes happy.
+// See comment for PYBIND11_MODULE below for why this is marked "maybe unused".
+#define PYBIND11_PLUGIN_IMPL(name) \
+    static PyObject *pybind11_init_wrapper();                           \
+    extern "C" PYBIND11_MAYBE_UNUSED PYBIND11_EXPORT void init##name(); \
+    extern "C" PYBIND11_EXPORT void init##name() {                      \
+        (void)pybind11_init_wrapper();                                  \
+    }                                                                   \
+    PyObject *pybind11_init_wrapper()
+#endif
+
+#if PY_VERSION_HEX >= 0x03050000 && PY_VERSION_HEX < 0x03050200
+extern "C" {
+    struct _Py_atomic_address { void *value; };
+    PyAPI_DATA(_Py_atomic_address) _PyThreadState_Current;
+}
+#endif
+
+#define PYBIND11_TRY_NEXT_OVERLOAD ((PyObject *) 1) // special failure return code
+#define PYBIND11_STRINGIFY(x) #x
+#define PYBIND11_TOSTRING(x) PYBIND11_STRINGIFY(x)
+#define PYBIND11_CONCAT(first, second) first##second
+#define PYBIND11_ENSURE_INTERNALS_READY \
+    pybind11::detail::get_internals();
+
+#define PYBIND11_CHECK_PYTHON_VERSION \
+    {                                                                          \
+        const char *compiled_ver = PYBIND11_TOSTRING(PY_MAJOR_VERSION)         \
+            "." PYBIND11_TOSTRING(PY_MINOR_VERSION);                           \
+        const char *runtime_ver = Py_GetVersion();                             \
+        size_t len = std::strlen(compiled_ver);                                \
+        if (std::strncmp(runtime_ver, compiled_ver, len) != 0                  \
+                || (runtime_ver[len] >= '0' && runtime_ver[len] <= '9')) {     \
+            PyErr_Format(PyExc_ImportError,                                    \
+                "Python version mismatch: module was compiled for Python %s, " \
+                "but the interpreter version is incompatible: %s.",            \
+                compiled_ver, runtime_ver);                                    \
+            return nullptr;                                                    \
+        }                                                                      \
+    }
+
+#define PYBIND11_CATCH_INIT_EXCEPTIONS \
+        catch (pybind11::error_already_set &e) {                               \
+            PyErr_SetString(PyExc_ImportError, e.what());                      \
+            return nullptr;                                                    \
+        } catch (const std::exception &e) {                                    \
+            PyErr_SetString(PyExc_ImportError, e.what());                      \
+            return nullptr;                                                    \
+        }                                                                      \
+
+/** \rst
+    ***Deprecated in favor of PYBIND11_MODULE***
+
+    This macro creates the entry point that will be invoked when the Python interpreter
+    imports a plugin library. Please create a `module_` in the function body and return
+    the pointer to its underlying Python object at the end.
+
+    .. code-block:: cpp
+
+        PYBIND11_PLUGIN(example) {
+            pybind11::module_ m("example", "pybind11 example plugin");
+            /// Set up bindings here
+            return m.ptr();
+        }
+\endrst */
+#define PYBIND11_PLUGIN(name)                                                  \
+    PYBIND11_DEPRECATED("PYBIND11_PLUGIN is deprecated, use PYBIND11_MODULE")  \
+    static PyObject *pybind11_init();                                          \
+    PYBIND11_PLUGIN_IMPL(name) {                                               \
+        PYBIND11_CHECK_PYTHON_VERSION                                          \
+        PYBIND11_ENSURE_INTERNALS_READY                                        \
+        try {                                                                  \
+            return pybind11_init();                                            \
+        } PYBIND11_CATCH_INIT_EXCEPTIONS                                       \
+    }                                                                          \
+    PyObject *pybind11_init()
+
+/** \rst
+    This macro creates the entry point that will be invoked when the Python interpreter
+    imports an extension module. The module name is given as the fist argument and it
+    should not be in quotes. The second macro argument defines a variable of type
+    `py::module_` which can be used to initialize the module.
+
+    The entry point is marked as "maybe unused" to aid dead-code detection analysis:
+    since the entry point is typically only looked up at runtime and not referenced
+    during translation, it would otherwise appear as unused ("dead") code.
+
+    .. code-block:: cpp
+
+        PYBIND11_MODULE(example, m) {
+            m.doc() = "pybind11 example module";
+
+            // Add bindings here
+            m.def("foo", []() {
+                return "Hello, World!";
+            });
+        }
+\endrst */
+#define PYBIND11_MODULE(name, variable)                                        \
+    static ::pybind11::module_::module_def                                     \
+        PYBIND11_CONCAT(pybind11_module_def_, name);                           \
+    PYBIND11_MAYBE_UNUSED                                                      \
+    static void PYBIND11_CONCAT(pybind11_init_, name)(::pybind11::module_ &);  \
+    PYBIND11_PLUGIN_IMPL(name) {                                               \
+        PYBIND11_CHECK_PYTHON_VERSION                                          \
+        PYBIND11_ENSURE_INTERNALS_READY                                        \
+        auto m = ::pybind11::module_::create_extension_module(                 \
+            PYBIND11_TOSTRING(name), nullptr,                                  \
+            &PYBIND11_CONCAT(pybind11_module_def_, name));                     \
+        try {                                                                  \
+            PYBIND11_CONCAT(pybind11_init_, name)(m);                          \
+            return m.ptr();                                                    \
+        } PYBIND11_CATCH_INIT_EXCEPTIONS                                       \
+    }                                                                          \
+    void PYBIND11_CONCAT(pybind11_init_, name)(::pybind11::module_ &variable)
+
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+using ssize_t = Py_ssize_t;
+using size_t  = std::size_t;
+
+/// Approach used to cast a previously unknown C++ instance into a Python object
+enum class return_value_policy : uint8_t {
+    /** This is the default return value policy, which falls back to the policy
+        return_value_policy::take_ownership when the return value is a pointer.
+        Otherwise, it uses return_value::move or return_value::copy for rvalue
+        and lvalue references, respectively. See below for a description of what
+        all of these different policies do. */
+    automatic = 0,
+
+    /** As above, but use policy return_value_policy::reference when the return
+        value is a pointer. This is the default conversion policy for function
+        arguments when calling Python functions manually from C++ code (i.e. via
+        handle::operator()). You probably won't need to use this. */
+    automatic_reference,
+
+    /** Reference an existing object (i.e. do not create a new copy) and take
+        ownership. Python will call the destructor and delete operator when the
+        object’s reference count reaches zero. Undefined behavior ensues when
+        the C++ side does the same.. */
+    take_ownership,
+
+    /** Create a new copy of the returned object, which will be owned by
+        Python. This policy is comparably safe because the lifetimes of the two
+        instances are decoupled. */
+    copy,
+
+    /** Use std::move to move the return value contents into a new instance
+        that will be owned by Python. This policy is comparably safe because the
+        lifetimes of the two instances (move source and destination) are
+        decoupled. */
+    move,
+
+    /** Reference an existing object, but do not take ownership. The C++ side
+        is responsible for managing the object’s lifetime and deallocating it
+        when it is no longer used. Warning: undefined behavior will ensue when
+        the C++ side deletes an object that is still referenced and used by
+        Python. */
+    reference,
+
+    /** This policy only applies to methods and properties. It references the
+        object without taking ownership similar to the above
+        return_value_policy::reference policy. In contrast to that policy, the
+        function or property’s implicit this argument (called the parent) is
+        considered to be the the owner of the return value (the child).
+        pybind11 then couples the lifetime of the parent to the child via a
+        reference relationship that ensures that the parent cannot be garbage
+        collected while Python is still using the child. More advanced
+        variations of this scheme are also possible using combinations of
+        return_value_policy::reference and the keep_alive call policy */
+    reference_internal
+};
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+inline static constexpr int log2(size_t n, int k = 0) { return (n <= 1) ? k : log2(n >> 1, k + 1); }
+
+// Returns the size as a multiple of sizeof(void *), rounded up.
+inline static constexpr size_t size_in_ptrs(size_t s) { return 1 + ((s - 1) >> log2(sizeof(void *))); }
+
+/**
+ * The space to allocate for simple layout instance holders (see below) in multiple of the size of
+ * a pointer (e.g.  2 means 16 bytes on 64-bit architectures).  The default is the minimum required
+ * to holder either a std::unique_ptr or std::shared_ptr (which is almost always
+ * sizeof(std::shared_ptr<T>)).
+ */
+constexpr size_t instance_simple_holder_in_ptrs() {
+    static_assert(sizeof(std::shared_ptr<int>) >= sizeof(std::unique_ptr<int>),
+            "pybind assumes std::shared_ptrs are at least as big as std::unique_ptrs");
+    return size_in_ptrs(sizeof(std::shared_ptr<int>));
+}
+
+// Forward declarations
+struct type_info;
+struct value_and_holder;
+
+struct nonsimple_values_and_holders {
+    void **values_and_holders;
+    uint8_t *status;
+};
+
+/// The 'instance' type which needs to be standard layout (need to be able to use 'offsetof')
+struct instance {
+    PyObject_HEAD
+    /// Storage for pointers and holder; see simple_layout, below, for a description
+    union {
+        void *simple_value_holder[1 + instance_simple_holder_in_ptrs()];
+        nonsimple_values_and_holders nonsimple;
+    };
+    /// Weak references
+    PyObject *weakrefs;
+    /// If true, the pointer is owned which means we're free to manage it with a holder.
+    bool owned : 1;
+    /**
+     * An instance has two possible value/holder layouts.
+     *
+     * Simple layout (when this flag is true), means the `simple_value_holder` is set with a pointer
+     * and the holder object governing that pointer, i.e. [val1*][holder].  This layout is applied
+     * whenever there is no python-side multiple inheritance of bound C++ types *and* the type's
+     * holder will fit in the default space (which is large enough to hold either a std::unique_ptr
+     * or std::shared_ptr).
+     *
+     * Non-simple layout applies when using custom holders that require more space than `shared_ptr`
+     * (which is typically the size of two pointers), or when multiple inheritance is used on the
+     * python side.  Non-simple layout allocates the required amount of memory to have multiple
+     * bound C++ classes as parents.  Under this layout, `nonsimple.values_and_holders` is set to a
+     * pointer to allocated space of the required space to hold a sequence of value pointers and
+     * holders followed `status`, a set of bit flags (1 byte each), i.e.
+     * [val1*][holder1][val2*][holder2]...[bb...]  where each [block] is rounded up to a multiple of
+     * `sizeof(void *)`.  `nonsimple.status` is, for convenience, a pointer to the
+     * beginning of the [bb...] block (but not independently allocated).
+     *
+     * Status bits indicate whether the associated holder is constructed (&
+     * status_holder_constructed) and whether the value pointer is registered (&
+     * status_instance_registered) in `registered_instances`.
+     */
+    bool simple_layout : 1;
+    /// For simple layout, tracks whether the holder has been constructed
+    bool simple_holder_constructed : 1;
+    /// For simple layout, tracks whether the instance is registered in `registered_instances`
+    bool simple_instance_registered : 1;
+    /// If true, get_internals().patients has an entry for this object
+    bool has_patients : 1;
+
+    /// Initializes all of the above type/values/holders data (but not the instance values themselves)
+    void allocate_layout();
+
+    /// Destroys/deallocates all of the above
+    void deallocate_layout();
+
+    /// Returns the value_and_holder wrapper for the given type (or the first, if `find_type`
+    /// omitted).  Returns a default-constructed (with `.inst = nullptr`) object on failure if
+    /// `throw_if_missing` is false.
+    value_and_holder get_value_and_holder(const type_info *find_type = nullptr, bool throw_if_missing = true);
+
+    /// Bit values for the non-simple status flags
+    static constexpr uint8_t status_holder_constructed  = 1;
+    static constexpr uint8_t status_instance_registered = 2;
+};
+
+static_assert(std::is_standard_layout<instance>::value, "Internal error: `pybind11::detail::instance` is not standard layout!");
+
+/// from __cpp_future__ import (convenient aliases from C++14/17)
+#if defined(PYBIND11_CPP14) && (!defined(_MSC_VER) || _MSC_VER >= 1910)
+using std::enable_if_t;
+using std::conditional_t;
+using std::remove_cv_t;
+using std::remove_reference_t;
+#else
+template <bool B, typename T = void> using enable_if_t = typename std::enable_if<B, T>::type;
+template <bool B, typename T, typename F> using conditional_t = typename std::conditional<B, T, F>::type;
+template <typename T> using remove_cv_t = typename std::remove_cv<T>::type;
+template <typename T> using remove_reference_t = typename std::remove_reference<T>::type;
+#endif
+
+/// Index sequences
+#if defined(PYBIND11_CPP14)
+using std::index_sequence;
+using std::make_index_sequence;
+#else
+template<size_t ...> struct index_sequence  { };
+template<size_t N, size_t ...S> struct make_index_sequence_impl : make_index_sequence_impl <N - 1, N - 1, S...> { };
+template<size_t ...S> struct make_index_sequence_impl <0, S...> { typedef index_sequence<S...> type; };
+template<size_t N> using make_index_sequence = typename make_index_sequence_impl<N>::type;
+#endif
+
+/// Make an index sequence of the indices of true arguments
+template <typename ISeq, size_t, bool...> struct select_indices_impl { using type = ISeq; };
+template <size_t... IPrev, size_t I, bool B, bool... Bs> struct select_indices_impl<index_sequence<IPrev...>, I, B, Bs...>
+    : select_indices_impl<conditional_t<B, index_sequence<IPrev..., I>, index_sequence<IPrev...>>, I + 1, Bs...> {};
+template <bool... Bs> using select_indices = typename select_indices_impl<index_sequence<>, 0, Bs...>::type;
+
+/// Backports of std::bool_constant and std::negation to accommodate older compilers
+template <bool B> using bool_constant = std::integral_constant<bool, B>;
+template <typename T> struct negation : bool_constant<!T::value> { };
+
+// PGI cannot detect operator delete with the "compatible" void_t impl, so
+// using the new one (C++14 defect, so generally works on newer compilers, even
+// if not in C++17 mode)
+#if defined(__PGIC__)
+template<typename... > using void_t = void;
+#else
+template <typename...> struct void_t_impl { using type = void; };
+template <typename... Ts> using void_t = typename void_t_impl<Ts...>::type;
+#endif
+
+
+/// Compile-time all/any/none of that check the boolean value of all template types
+#if defined(__cpp_fold_expressions) && !(defined(_MSC_VER) && (_MSC_VER < 1916))
+template <class... Ts> using all_of = bool_constant<(Ts::value && ...)>;
+template <class... Ts> using any_of = bool_constant<(Ts::value || ...)>;
+#elif !defined(_MSC_VER)
+template <bool...> struct bools {};
+template <class... Ts> using all_of = std::is_same<
+    bools<Ts::value..., true>,
+    bools<true, Ts::value...>>;
+template <class... Ts> using any_of = negation<all_of<negation<Ts>...>>;
+#else
+// MSVC has trouble with the above, but supports std::conjunction, which we can use instead (albeit
+// at a slight loss of compilation efficiency).
+template <class... Ts> using all_of = std::conjunction<Ts...>;
+template <class... Ts> using any_of = std::disjunction<Ts...>;
+#endif
+template <class... Ts> using none_of = negation<any_of<Ts...>>;
+
+template <class T, template<class> class... Predicates> using satisfies_all_of = all_of<Predicates<T>...>;
+template <class T, template<class> class... Predicates> using satisfies_any_of = any_of<Predicates<T>...>;
+template <class T, template<class> class... Predicates> using satisfies_none_of = none_of<Predicates<T>...>;
+
+/// Strip the class from a method type
+template <typename T> struct remove_class { };
+template <typename C, typename R, typename... A> struct remove_class<R (C::*)(A...)> { using type = R (A...); };
+template <typename C, typename R, typename... A> struct remove_class<R (C::*)(A...) const> { using type = R (A...); };
+
+/// Helper template to strip away type modifiers
+template <typename T> struct intrinsic_type                       { using type = T; };
+template <typename T> struct intrinsic_type<const T>              { using type = typename intrinsic_type<T>::type; };
+template <typename T> struct intrinsic_type<T*>                   { using type = typename intrinsic_type<T>::type; };
+template <typename T> struct intrinsic_type<T&>                   { using type = typename intrinsic_type<T>::type; };
+template <typename T> struct intrinsic_type<T&&>                  { using type = typename intrinsic_type<T>::type; };
+template <typename T, size_t N> struct intrinsic_type<const T[N]> { using type = typename intrinsic_type<T>::type; };
+template <typename T, size_t N> struct intrinsic_type<T[N]>       { using type = typename intrinsic_type<T>::type; };
+template <typename T> using intrinsic_t = typename intrinsic_type<T>::type;
+
+/// Helper type to replace 'void' in some expressions
+struct void_type { };
+
+/// Helper template which holds a list of types
+template <typename...> struct type_list { };
+
+/// Compile-time integer sum
+#ifdef __cpp_fold_expressions
+template <typename... Ts> constexpr size_t constexpr_sum(Ts... ns) { return (0 + ... + size_t{ns}); }
+#else
+constexpr size_t constexpr_sum() { return 0; }
+template <typename T, typename... Ts>
+constexpr size_t constexpr_sum(T n, Ts... ns) { return size_t{n} + constexpr_sum(ns...); }
+#endif
+
+PYBIND11_NAMESPACE_BEGIN(constexpr_impl)
+/// Implementation details for constexpr functions
+constexpr int first(int i) { return i; }
+template <typename T, typename... Ts>
+constexpr int first(int i, T v, Ts... vs) { return v ? i : first(i + 1, vs...); }
+
+constexpr int last(int /*i*/, int result) { return result; }
+template <typename T, typename... Ts>
+constexpr int last(int i, int result, T v, Ts... vs) { return last(i + 1, v ? i : result, vs...); }
+PYBIND11_NAMESPACE_END(constexpr_impl)
+
+/// Return the index of the first type in Ts which satisfies Predicate<T>.  Returns sizeof...(Ts) if
+/// none match.
+template <template<typename> class Predicate, typename... Ts>
+constexpr int constexpr_first() { return constexpr_impl::first(0, Predicate<Ts>::value...); }
+
+/// Return the index of the last type in Ts which satisfies Predicate<T>, or -1 if none match.
+template <template<typename> class Predicate, typename... Ts>
+constexpr int constexpr_last() { return constexpr_impl::last(0, -1, Predicate<Ts>::value...); }
+
+/// Return the Nth element from the parameter pack
+template <size_t N, typename T, typename... Ts>
+struct pack_element { using type = typename pack_element<N - 1, Ts...>::type; };
+template <typename T, typename... Ts>
+struct pack_element<0, T, Ts...> { using type = T; };
+
+/// Return the one and only type which matches the predicate, or Default if none match.
+/// If more than one type matches the predicate, fail at compile-time.
+template <template<typename> class Predicate, typename Default, typename... Ts>
+struct exactly_one {
+    static constexpr auto found = constexpr_sum(Predicate<Ts>::value...);
+    static_assert(found <= 1, "Found more than one type matching the predicate");
+
+    static constexpr auto index = found ? constexpr_first<Predicate, Ts...>() : 0;
+    using type = conditional_t<found, typename pack_element<index, Ts...>::type, Default>;
+};
+template <template<typename> class P, typename Default>
+struct exactly_one<P, Default> { using type = Default; };
+
+template <template<typename> class Predicate, typename Default, typename... Ts>
+using exactly_one_t = typename exactly_one<Predicate, Default, Ts...>::type;
+
+/// Defer the evaluation of type T until types Us are instantiated
+template <typename T, typename... /*Us*/> struct deferred_type { using type = T; };
+template <typename T, typename... Us> using deferred_t = typename deferred_type<T, Us...>::type;
+
+/// Like is_base_of, but requires a strict base (i.e. `is_strict_base_of<T, T>::value == false`,
+/// unlike `std::is_base_of`)
+template <typename Base, typename Derived> using is_strict_base_of = bool_constant<
+    std::is_base_of<Base, Derived>::value && !std::is_same<Base, Derived>::value>;
+
+/// Like is_base_of, but also requires that the base type is accessible (i.e. that a Derived pointer
+/// can be converted to a Base pointer)
+/// For unions, `is_base_of<T, T>::value` is False, so we need to check `is_same` as well.
+template <typename Base, typename Derived> using is_accessible_base_of = bool_constant<
+    (std::is_same<Base, Derived>::value || std::is_base_of<Base, Derived>::value) && std::is_convertible<Derived *, Base *>::value>;
+
+template <template<typename...> class Base>
+struct is_template_base_of_impl {
+    template <typename... Us> static std::true_type check(Base<Us...> *);
+    static std::false_type check(...);
+};
+
+/// Check if a template is the base of a type. For example:
+/// `is_template_base_of<Base, T>` is true if `struct T : Base<U> {}` where U can be anything
+template <template<typename...> class Base, typename T>
+#if !defined(_MSC_VER)
+using is_template_base_of = decltype(is_template_base_of_impl<Base>::check((intrinsic_t<T>*)nullptr));
+#else // MSVC2015 has trouble with decltype in template aliases
+struct is_template_base_of : decltype(is_template_base_of_impl<Base>::check((intrinsic_t<T>*)nullptr)) { };
+#endif
+
+/// Check if T is an instantiation of the template `Class`. For example:
+/// `is_instantiation<shared_ptr, T>` is true if `T == shared_ptr<U>` where U can be anything.
+template <template<typename...> class Class, typename T>
+struct is_instantiation : std::false_type { };
+template <template<typename...> class Class, typename... Us>
+struct is_instantiation<Class, Class<Us...>> : std::true_type { };
+
+/// Check if T is std::shared_ptr<U> where U can be anything
+template <typename T> using is_shared_ptr = is_instantiation<std::shared_ptr, T>;
+
+/// Check if T looks like an input iterator
+template <typename T, typename = void> struct is_input_iterator : std::false_type {};
+template <typename T>
+struct is_input_iterator<T, void_t<decltype(*std::declval<T &>()), decltype(++std::declval<T &>())>>
+    : std::true_type {};
+
+template <typename T> using is_function_pointer = bool_constant<
+    std::is_pointer<T>::value && std::is_function<typename std::remove_pointer<T>::type>::value>;
+
+template <typename F> struct strip_function_object {
+    using type = typename remove_class<decltype(&F::operator())>::type;
+};
+
+// Extracts the function signature from a function, function pointer or lambda.
+template <typename Function, typename F = remove_reference_t<Function>>
+using function_signature_t = conditional_t<
+    std::is_function<F>::value,
+    F,
+    typename conditional_t<
+        std::is_pointer<F>::value || std::is_member_pointer<F>::value,
+        std::remove_pointer<F>,
+        strip_function_object<F>
+    >::type
+>;
+
+/// Returns true if the type looks like a lambda: that is, isn't a function, pointer or member
+/// pointer.  Note that this can catch all sorts of other things, too; this is intended to be used
+/// in a place where passing a lambda makes sense.
+template <typename T> using is_lambda = satisfies_none_of<remove_reference_t<T>,
+        std::is_function, std::is_pointer, std::is_member_pointer>;
+
+/// Ignore that a variable is unused in compiler warnings
+inline void ignore_unused(const int *) { }
+
+/// Apply a function over each element of a parameter pack
+#ifdef __cpp_fold_expressions
+#define PYBIND11_EXPAND_SIDE_EFFECTS(PATTERN) (((PATTERN), void()), ...)
+#else
+using expand_side_effects = bool[];
+#define PYBIND11_EXPAND_SIDE_EFFECTS(PATTERN) (void)pybind11::detail::expand_side_effects{ ((PATTERN), void(), false)..., false }
+#endif
+
+PYBIND11_NAMESPACE_END(detail)
+
+/// C++ bindings of builtin Python exceptions
+class builtin_exception : public std::runtime_error {
+public:
+    using std::runtime_error::runtime_error;
+    /// Set the error using the Python C API
+    virtual void set_error() const = 0;
+};
+
+#define PYBIND11_RUNTIME_EXCEPTION(name, type) \
+    class name : public builtin_exception { public: \
+        using builtin_exception::builtin_exception; \
+        name() : name("") { } \
+        void set_error() const override { PyErr_SetString(type, what()); } \
+    };
+
+PYBIND11_RUNTIME_EXCEPTION(stop_iteration, PyExc_StopIteration)
+PYBIND11_RUNTIME_EXCEPTION(index_error, PyExc_IndexError)
+PYBIND11_RUNTIME_EXCEPTION(key_error, PyExc_KeyError)
+PYBIND11_RUNTIME_EXCEPTION(value_error, PyExc_ValueError)
+PYBIND11_RUNTIME_EXCEPTION(type_error, PyExc_TypeError)
+PYBIND11_RUNTIME_EXCEPTION(buffer_error, PyExc_BufferError)
+PYBIND11_RUNTIME_EXCEPTION(import_error, PyExc_ImportError)
+PYBIND11_RUNTIME_EXCEPTION(cast_error, PyExc_RuntimeError) /// Thrown when pybind11::cast or handle::call fail due to a type casting error
+PYBIND11_RUNTIME_EXCEPTION(reference_cast_error, PyExc_RuntimeError) /// Used internally
+
+[[noreturn]] PYBIND11_NOINLINE inline void pybind11_fail(const char *reason) { throw std::runtime_error(reason); }
+[[noreturn]] PYBIND11_NOINLINE inline void pybind11_fail(const std::string &reason) { throw std::runtime_error(reason); }
+
+template <typename T, typename SFINAE = void> struct format_descriptor { };
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+// Returns the index of the given type in the type char array below, and in the list in numpy.h
+// The order here is: bool; 8 ints ((signed,unsigned)x(8,16,32,64)bits); float,double,long double;
+// complex float,double,long double.  Note that the long double types only participate when long
+// double is actually longer than double (it isn't under MSVC).
+// NB: not only the string below but also complex.h and numpy.h rely on this order.
+template <typename T, typename SFINAE = void> struct is_fmt_numeric { static constexpr bool value = false; };
+template <typename T> struct is_fmt_numeric<T, enable_if_t<std::is_arithmetic<T>::value>> {
+    static constexpr bool value = true;
+    static constexpr int index = std::is_same<T, bool>::value ? 0 : 1 + (
+        std::is_integral<T>::value ? detail::log2(sizeof(T))*2 + std::is_unsigned<T>::value : 8 + (
+        std::is_same<T, double>::value ? 1 : std::is_same<T, long double>::value ? 2 : 0));
+};
+PYBIND11_NAMESPACE_END(detail)
+
+template <typename T> struct format_descriptor<T, detail::enable_if_t<std::is_arithmetic<T>::value>> {
+    static constexpr const char c = "?bBhHiIqQfdg"[detail::is_fmt_numeric<T>::index];
+    static constexpr const char value[2] = { c, '\0' };
+    static std::string format() { return std::string(1, c); }
+};
+
+#if !defined(PYBIND11_CPP17)
+
+template <typename T> constexpr const char format_descriptor<
+    T, detail::enable_if_t<std::is_arithmetic<T>::value>>::value[2];
+
+#endif
+
+/// RAII wrapper that temporarily clears any Python error state
+struct error_scope {
+    PyObject *type, *value, *trace;
+    error_scope() { PyErr_Fetch(&type, &value, &trace); }
+    ~error_scope() { PyErr_Restore(type, value, trace); }
+};
+
+/// Dummy destructor wrapper that can be used to expose classes with a private destructor
+struct nodelete { template <typename T> void operator()(T*) { } };
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+template <typename... Args>
+struct overload_cast_impl {
+    constexpr overload_cast_impl() {}; // NOLINT(modernize-use-equals-default):  MSVC 2015 needs this
+
+    template <typename Return>
+    constexpr auto operator()(Return (*pf)(Args...)) const noexcept
+                              -> decltype(pf) { return pf; }
+
+    template <typename Return, typename Class>
+    constexpr auto operator()(Return (Class::*pmf)(Args...), std::false_type = {}) const noexcept
+                              -> decltype(pmf) { return pmf; }
+
+    template <typename Return, typename Class>
+    constexpr auto operator()(Return (Class::*pmf)(Args...) const, std::true_type) const noexcept
+                              -> decltype(pmf) { return pmf; }
+};
+PYBIND11_NAMESPACE_END(detail)
+
+// overload_cast requires variable templates: C++14
+#if defined(PYBIND11_CPP14)
+#define PYBIND11_OVERLOAD_CAST 1
+/// Syntax sugar for resolving overloaded function pointers:
+///  - regular: static_cast<Return (Class::*)(Arg0, Arg1, Arg2)>(&Class::func)
+///  - sweet:   overload_cast<Arg0, Arg1, Arg2>(&Class::func)
+template <typename... Args>
+static constexpr detail::overload_cast_impl<Args...> overload_cast = {};
+// MSVC 2015 only accepts this particular initialization syntax for this variable template.
+#endif
+
+/// Const member function selector for overload_cast
+///  - regular: static_cast<Return (Class::*)(Arg) const>(&Class::func)
+///  - sweet:   overload_cast<Arg>(&Class::func, const_)
+static constexpr auto const_ = std::true_type{};
+
+#if !defined(PYBIND11_CPP14) // no overload_cast: providing something that static_assert-fails:
+template <typename... Args> struct overload_cast {
+    static_assert(detail::deferred_t<std::false_type, Args...>::value,
+                  "pybind11::overload_cast<...> requires compiling in C++14 mode");
+};
+#endif // overload_cast
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+// Adaptor for converting arbitrary container arguments into a vector; implicitly convertible from
+// any standard container (or C-style array) supporting std::begin/std::end, any singleton
+// arithmetic type (if T is arithmetic), or explicitly constructible from an iterator pair.
+template <typename T>
+class any_container {
+    std::vector<T> v;
+public:
+    any_container() = default;
+
+    // Can construct from a pair of iterators
+    template <typename It, typename = enable_if_t<is_input_iterator<It>::value>>
+    any_container(It first, It last) : v(first, last) { }
+
+    // Implicit conversion constructor from any arbitrary container type with values convertible to T
+    template <typename Container, typename = enable_if_t<std::is_convertible<decltype(*std::begin(std::declval<const Container &>())), T>::value>>
+    any_container(const Container &c) : any_container(std::begin(c), std::end(c)) { }
+
+    // initializer_list's aren't deducible, so don't get matched by the above template; we need this
+    // to explicitly allow implicit conversion from one:
+    template <typename TIn, typename = enable_if_t<std::is_convertible<TIn, T>::value>>
+    any_container(const std::initializer_list<TIn> &c) : any_container(c.begin(), c.end()) { }
+
+    // Avoid copying if given an rvalue vector of the correct type.
+    any_container(std::vector<T> &&v) : v(std::move(v)) { }
+
+    // Moves the vector out of an rvalue any_container
+    operator std::vector<T> &&() && { return std::move(v); }
+
+    // Dereferencing obtains a reference to the underlying vector
+    std::vector<T> &operator*() { return v; }
+    const std::vector<T> &operator*() const { return v; }
+
+    // -> lets you call methods on the underlying vector
+    std::vector<T> *operator->() { return &v; }
+    const std::vector<T> *operator->() const { return &v; }
+};
+
+// Forward-declaration; see detail/class.h
+std::string get_fully_qualified_tp_name(PyTypeObject*);
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/descr.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/descr.h
new file mode 100644
index 0000000..92720cd
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/descr.h
@@ -0,0 +1,100 @@
+/*
+    pybind11/detail/descr.h: Helper type for concatenating type signatures at compile time
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "common.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+#if !defined(_MSC_VER)
+#  define PYBIND11_DESCR_CONSTEXPR static constexpr
+#else
+#  define PYBIND11_DESCR_CONSTEXPR const
+#endif
+
+/* Concatenate type signatures at compile time */
+template <size_t N, typename... Ts>
+struct descr {
+    char text[N + 1];
+
+    constexpr descr() : text{'\0'} { }
+    constexpr descr(char const (&s)[N+1]) : descr(s, make_index_sequence<N>()) { }
+
+    template <size_t... Is>
+    constexpr descr(char const (&s)[N+1], index_sequence<Is...>) : text{s[Is]..., '\0'} { }
+
+    template <typename... Chars>
+    constexpr descr(char c, Chars... cs) : text{c, static_cast<char>(cs)..., '\0'} { }
+
+    static constexpr std::array<const std::type_info *, sizeof...(Ts) + 1> types() {
+        return {{&typeid(Ts)..., nullptr}};
+    }
+};
+
+template <size_t N1, size_t N2, typename... Ts1, typename... Ts2, size_t... Is1, size_t... Is2>
+constexpr descr<N1 + N2, Ts1..., Ts2...> plus_impl(const descr<N1, Ts1...> &a, const descr<N2, Ts2...> &b,
+                                                   index_sequence<Is1...>, index_sequence<Is2...>) {
+    return {a.text[Is1]..., b.text[Is2]...};
+}
+
+template <size_t N1, size_t N2, typename... Ts1, typename... Ts2>
+constexpr descr<N1 + N2, Ts1..., Ts2...> operator+(const descr<N1, Ts1...> &a, const descr<N2, Ts2...> &b) {
+    return plus_impl(a, b, make_index_sequence<N1>(), make_index_sequence<N2>());
+}
+
+template <size_t N>
+constexpr descr<N - 1> _(char const(&text)[N]) { return descr<N - 1>(text); }
+constexpr descr<0> _(char const(&)[1]) { return {}; }
+
+template <size_t Rem, size_t... Digits> struct int_to_str : int_to_str<Rem/10, Rem%10, Digits...> { };
+template <size_t...Digits> struct int_to_str<0, Digits...> {
+    static constexpr auto digits = descr<sizeof...(Digits)>(('0' + Digits)...);
+};
+
+// Ternary description (like std::conditional)
+template <bool B, size_t N1, size_t N2>
+constexpr enable_if_t<B, descr<N1 - 1>> _(char const(&text1)[N1], char const(&)[N2]) {
+    return _(text1);
+}
+template <bool B, size_t N1, size_t N2>
+constexpr enable_if_t<!B, descr<N2 - 1>> _(char const(&)[N1], char const(&text2)[N2]) {
+    return _(text2);
+}
+
+template <bool B, typename T1, typename T2>
+constexpr enable_if_t<B, T1> _(const T1 &d, const T2 &) { return d; }
+template <bool B, typename T1, typename T2>
+constexpr enable_if_t<!B, T2> _(const T1 &, const T2 &d) { return d; }
+
+template <size_t Size> auto constexpr _() -> decltype(int_to_str<Size / 10, Size % 10>::digits) {
+    return int_to_str<Size / 10, Size % 10>::digits;
+}
+
+template <typename Type> constexpr descr<1, Type> _() { return {'%'}; }
+
+constexpr descr<0> concat() { return {}; }
+
+template <size_t N, typename... Ts>
+constexpr descr<N, Ts...> concat(const descr<N, Ts...> &descr) { return descr; }
+
+template <size_t N, typename... Ts, typename... Args>
+constexpr auto concat(const descr<N, Ts...> &d, const Args &...args)
+    -> decltype(std::declval<descr<N + 2, Ts...>>() + concat(args...)) {
+    return d + _(", ") + concat(args...);
+}
+
+template <size_t N, typename... Ts>
+constexpr descr<N + 2, Ts...> type_descr(const descr<N, Ts...> &descr) {
+    return _("{") + descr + _("}");
+}
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/init.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/init.h
new file mode 100644
index 0000000..3ef78c1
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/init.h
@@ -0,0 +1,336 @@
+/*
+    pybind11/detail/init.h: init factory function implementation and support code.
+
+    Copyright (c) 2017 Jason Rhinelander <jason@imaginary.ca>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "class.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+template <>
+class type_caster<value_and_holder> {
+public:
+    bool load(handle h, bool) {
+        value = reinterpret_cast<value_and_holder *>(h.ptr());
+        return true;
+    }
+
+    template <typename> using cast_op_type = value_and_holder &;
+    operator value_and_holder &() { return *value; }
+    static constexpr auto name = _<value_and_holder>();
+
+private:
+    value_and_holder *value = nullptr;
+};
+
+PYBIND11_NAMESPACE_BEGIN(initimpl)
+
+inline void no_nullptr(void *ptr) {
+    if (!ptr) throw type_error("pybind11::init(): factory function returned nullptr");
+}
+
+// Implementing functions for all forms of py::init<...> and py::init(...)
+template <typename Class> using Cpp = typename Class::type;
+template <typename Class> using Alias = typename Class::type_alias;
+template <typename Class> using Holder = typename Class::holder_type;
+
+template <typename Class> using is_alias_constructible = std::is_constructible<Alias<Class>, Cpp<Class> &&>;
+
+// Takes a Cpp pointer and returns true if it actually is a polymorphic Alias instance.
+template <typename Class, enable_if_t<Class::has_alias, int> = 0>
+bool is_alias(Cpp<Class> *ptr) {
+    return dynamic_cast<Alias<Class> *>(ptr) != nullptr;
+}
+// Failing fallback version of the above for a no-alias class (always returns false)
+template <typename /*Class*/>
+constexpr bool is_alias(void *) { return false; }
+
+// Constructs and returns a new object; if the given arguments don't map to a constructor, we fall
+// back to brace aggregate initiailization so that for aggregate initialization can be used with
+// py::init, e.g.  `py::init<int, int>` to initialize a `struct T { int a; int b; }`.  For
+// non-aggregate types, we need to use an ordinary T(...) constructor (invoking as `T{...}` usually
+// works, but will not do the expected thing when `T` has an `initializer_list<T>` constructor).
+template <typename Class, typename... Args, detail::enable_if_t<std::is_constructible<Class, Args...>::value, int> = 0>
+inline Class *construct_or_initialize(Args &&...args) { return new Class(std::forward<Args>(args)...); }
+template <typename Class, typename... Args, detail::enable_if_t<!std::is_constructible<Class, Args...>::value, int> = 0>
+inline Class *construct_or_initialize(Args &&...args) { return new Class{std::forward<Args>(args)...}; }
+
+// Attempts to constructs an alias using a `Alias(Cpp &&)` constructor.  This allows types with
+// an alias to provide only a single Cpp factory function as long as the Alias can be
+// constructed from an rvalue reference of the base Cpp type.  This means that Alias classes
+// can, when appropriate, simply define a `Alias(Cpp &&)` constructor rather than needing to
+// inherit all the base class constructors.
+template <typename Class>
+void construct_alias_from_cpp(std::true_type /*is_alias_constructible*/,
+                              value_and_holder &v_h, Cpp<Class> &&base) {
+    v_h.value_ptr() = new Alias<Class>(std::move(base));
+}
+template <typename Class>
+[[noreturn]] void construct_alias_from_cpp(std::false_type /*!is_alias_constructible*/,
+                                           value_and_holder &, Cpp<Class> &&) {
+    throw type_error("pybind11::init(): unable to convert returned instance to required "
+                     "alias class: no `Alias<Class>(Class &&)` constructor available");
+}
+
+// Error-generating fallback for factories that don't match one of the below construction
+// mechanisms.
+template <typename Class>
+void construct(...) {
+    static_assert(!std::is_same<Class, Class>::value /* always false */,
+            "pybind11::init(): init function must return a compatible pointer, "
+            "holder, or value");
+}
+
+// Pointer return v1: the factory function returns a class pointer for a registered class.
+// If we don't need an alias (because this class doesn't have one, or because the final type is
+// inherited on the Python side) we can simply take over ownership.  Otherwise we need to try to
+// construct an Alias from the returned base instance.
+template <typename Class>
+void construct(value_and_holder &v_h, Cpp<Class> *ptr, bool need_alias) {
+    no_nullptr(ptr);
+    if (Class::has_alias && need_alias && !is_alias<Class>(ptr)) {
+        // We're going to try to construct an alias by moving the cpp type.  Whether or not
+        // that succeeds, we still need to destroy the original cpp pointer (either the
+        // moved away leftover, if the alias construction works, or the value itself if we
+        // throw an error), but we can't just call `delete ptr`: it might have a special
+        // deleter, or might be shared_from_this.  So we construct a holder around it as if
+        // it was a normal instance, then steal the holder away into a local variable; thus
+        // the holder and destruction happens when we leave the C++ scope, and the holder
+        // class gets to handle the destruction however it likes.
+        v_h.value_ptr() = ptr;
+        v_h.set_instance_registered(true); // To prevent init_instance from registering it
+        v_h.type->init_instance(v_h.inst, nullptr); // Set up the holder
+        Holder<Class> temp_holder(std::move(v_h.holder<Holder<Class>>())); // Steal the holder
+        v_h.type->dealloc(v_h); // Destroys the moved-out holder remains, resets value ptr to null
+        v_h.set_instance_registered(false);
+
+        construct_alias_from_cpp<Class>(is_alias_constructible<Class>{}, v_h, std::move(*ptr));
+    } else {
+        // Otherwise the type isn't inherited, so we don't need an Alias
+        v_h.value_ptr() = ptr;
+    }
+}
+
+// Pointer return v2: a factory that always returns an alias instance ptr.  We simply take over
+// ownership of the pointer.
+template <typename Class, enable_if_t<Class::has_alias, int> = 0>
+void construct(value_and_holder &v_h, Alias<Class> *alias_ptr, bool) {
+    no_nullptr(alias_ptr);
+    v_h.value_ptr() = static_cast<Cpp<Class> *>(alias_ptr);
+}
+
+// Holder return: copy its pointer, and move or copy the returned holder into the new instance's
+// holder.  This also handles types like std::shared_ptr<T> and std::unique_ptr<T> where T is a
+// derived type (through those holder's implicit conversion from derived class holder constructors).
+template <typename Class>
+void construct(value_and_holder &v_h, Holder<Class> holder, bool need_alias) {
+    auto *ptr = holder_helper<Holder<Class>>::get(holder);
+    no_nullptr(ptr);
+    // If we need an alias, check that the held pointer is actually an alias instance
+    if (Class::has_alias && need_alias && !is_alias<Class>(ptr))
+        throw type_error("pybind11::init(): construction failed: returned holder-wrapped instance "
+                         "is not an alias instance");
+
+    v_h.value_ptr() = ptr;
+    v_h.type->init_instance(v_h.inst, &holder);
+}
+
+// return-by-value version 1: returning a cpp class by value.  If the class has an alias and an
+// alias is required the alias must have an `Alias(Cpp &&)` constructor so that we can construct
+// the alias from the base when needed (i.e. because of Python-side inheritance).  When we don't
+// need it, we simply move-construct the cpp value into a new instance.
+template <typename Class>
+void construct(value_and_holder &v_h, Cpp<Class> &&result, bool need_alias) {
+    static_assert(std::is_move_constructible<Cpp<Class>>::value,
+        "pybind11::init() return-by-value factory function requires a movable class");
+    if (Class::has_alias && need_alias)
+        construct_alias_from_cpp<Class>(is_alias_constructible<Class>{}, v_h, std::move(result));
+    else
+        v_h.value_ptr() = new Cpp<Class>(std::move(result));
+}
+
+// return-by-value version 2: returning a value of the alias type itself.  We move-construct an
+// Alias instance (even if no the python-side inheritance is involved).  The is intended for
+// cases where Alias initialization is always desired.
+template <typename Class>
+void construct(value_and_holder &v_h, Alias<Class> &&result, bool) {
+    static_assert(std::is_move_constructible<Alias<Class>>::value,
+        "pybind11::init() return-by-alias-value factory function requires a movable alias class");
+    v_h.value_ptr() = new Alias<Class>(std::move(result));
+}
+
+// Implementing class for py::init<...>()
+template <typename... Args>
+struct constructor {
+    template <typename Class, typename... Extra, enable_if_t<!Class::has_alias, int> = 0>
+    static void execute(Class &cl, const Extra&... extra) {
+        cl.def("__init__", [](value_and_holder &v_h, Args... args) {
+            v_h.value_ptr() = construct_or_initialize<Cpp<Class>>(std::forward<Args>(args)...);
+        }, is_new_style_constructor(), extra...);
+    }
+
+    template <typename Class, typename... Extra,
+              enable_if_t<Class::has_alias &&
+                          std::is_constructible<Cpp<Class>, Args...>::value, int> = 0>
+    static void execute(Class &cl, const Extra&... extra) {
+        cl.def("__init__", [](value_and_holder &v_h, Args... args) {
+            if (Py_TYPE(v_h.inst) == v_h.type->type)
+                v_h.value_ptr() = construct_or_initialize<Cpp<Class>>(std::forward<Args>(args)...);
+            else
+                v_h.value_ptr() = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
+        }, is_new_style_constructor(), extra...);
+    }
+
+    template <typename Class, typename... Extra,
+              enable_if_t<Class::has_alias &&
+                          !std::is_constructible<Cpp<Class>, Args...>::value, int> = 0>
+    static void execute(Class &cl, const Extra&... extra) {
+        cl.def("__init__", [](value_and_holder &v_h, Args... args) {
+            v_h.value_ptr() = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
+        }, is_new_style_constructor(), extra...);
+    }
+};
+
+// Implementing class for py::init_alias<...>()
+template <typename... Args> struct alias_constructor {
+    template <typename Class, typename... Extra,
+              enable_if_t<Class::has_alias && std::is_constructible<Alias<Class>, Args...>::value, int> = 0>
+    static void execute(Class &cl, const Extra&... extra) {
+        cl.def("__init__", [](value_and_holder &v_h, Args... args) {
+            v_h.value_ptr() = construct_or_initialize<Alias<Class>>(std::forward<Args>(args)...);
+        }, is_new_style_constructor(), extra...);
+    }
+};
+
+// Implementation class for py::init(Func) and py::init(Func, AliasFunc)
+template <typename CFunc, typename AFunc = void_type (*)(),
+          typename = function_signature_t<CFunc>, typename = function_signature_t<AFunc>>
+struct factory;
+
+// Specialization for py::init(Func)
+template <typename Func, typename Return, typename... Args>
+struct factory<Func, void_type (*)(), Return(Args...)> {
+    remove_reference_t<Func> class_factory;
+
+    factory(Func &&f) : class_factory(std::forward<Func>(f)) { }
+
+    // The given class either has no alias or has no separate alias factory;
+    // this always constructs the class itself.  If the class is registered with an alias
+    // type and an alias instance is needed (i.e. because the final type is a Python class
+    // inheriting from the C++ type) the returned value needs to either already be an alias
+    // instance, or the alias needs to be constructible from a `Class &&` argument.
+    template <typename Class, typename... Extra>
+    void execute(Class &cl, const Extra &...extra) && {
+        #if defined(PYBIND11_CPP14)
+        cl.def("__init__", [func = std::move(class_factory)]
+        #else
+        auto &func = class_factory;
+        cl.def("__init__", [func]
+        #endif
+        (value_and_holder &v_h, Args... args) {
+            construct<Class>(v_h, func(std::forward<Args>(args)...),
+                             Py_TYPE(v_h.inst) != v_h.type->type);
+        }, is_new_style_constructor(), extra...);
+    }
+};
+
+// Specialization for py::init(Func, AliasFunc)
+template <typename CFunc, typename AFunc,
+          typename CReturn, typename... CArgs, typename AReturn, typename... AArgs>
+struct factory<CFunc, AFunc, CReturn(CArgs...), AReturn(AArgs...)> {
+    static_assert(sizeof...(CArgs) == sizeof...(AArgs),
+                  "pybind11::init(class_factory, alias_factory): class and alias factories "
+                  "must have identical argument signatures");
+    static_assert(all_of<std::is_same<CArgs, AArgs>...>::value,
+                  "pybind11::init(class_factory, alias_factory): class and alias factories "
+                  "must have identical argument signatures");
+
+    remove_reference_t<CFunc> class_factory;
+    remove_reference_t<AFunc> alias_factory;
+
+    factory(CFunc &&c, AFunc &&a)
+        : class_factory(std::forward<CFunc>(c)), alias_factory(std::forward<AFunc>(a)) { }
+
+    // The class factory is called when the `self` type passed to `__init__` is the direct
+    // class (i.e. not inherited), the alias factory when `self` is a Python-side subtype.
+    template <typename Class, typename... Extra>
+    void execute(Class &cl, const Extra&... extra) && {
+        static_assert(Class::has_alias, "The two-argument version of `py::init()` can "
+                                        "only be used if the class has an alias");
+        #if defined(PYBIND11_CPP14)
+        cl.def("__init__", [class_func = std::move(class_factory), alias_func = std::move(alias_factory)]
+        #else
+        auto &class_func = class_factory;
+        auto &alias_func = alias_factory;
+        cl.def("__init__", [class_func, alias_func]
+        #endif
+        (value_and_holder &v_h, CArgs... args) {
+            if (Py_TYPE(v_h.inst) == v_h.type->type)
+                // If the instance type equals the registered type we don't have inheritance, so
+                // don't need the alias and can construct using the class function:
+                construct<Class>(v_h, class_func(std::forward<CArgs>(args)...), false);
+            else
+                construct<Class>(v_h, alias_func(std::forward<CArgs>(args)...), true);
+        }, is_new_style_constructor(), extra...);
+    }
+};
+
+/// Set just the C++ state. Same as `__init__`.
+template <typename Class, typename T>
+void setstate(value_and_holder &v_h, T &&result, bool need_alias) {
+    construct<Class>(v_h, std::forward<T>(result), need_alias);
+}
+
+/// Set both the C++ and Python states
+template <typename Class, typename T, typename O,
+          enable_if_t<std::is_convertible<O, handle>::value, int> = 0>
+void setstate(value_and_holder &v_h, std::pair<T, O> &&result, bool need_alias) {
+    construct<Class>(v_h, std::move(result.first), need_alias);
+    setattr((PyObject *) v_h.inst, "__dict__", result.second);
+}
+
+/// Implementation for py::pickle(GetState, SetState)
+template <typename Get, typename Set,
+          typename = function_signature_t<Get>, typename = function_signature_t<Set>>
+struct pickle_factory;
+
+template <typename Get, typename Set,
+          typename RetState, typename Self, typename NewInstance, typename ArgState>
+struct pickle_factory<Get, Set, RetState(Self), NewInstance(ArgState)> {
+    static_assert(std::is_same<intrinsic_t<RetState>, intrinsic_t<ArgState>>::value,
+                  "The type returned by `__getstate__` must be the same "
+                  "as the argument accepted by `__setstate__`");
+
+    remove_reference_t<Get> get;
+    remove_reference_t<Set> set;
+
+    pickle_factory(Get get, Set set)
+        : get(std::forward<Get>(get)), set(std::forward<Set>(set)) { }
+
+    template <typename Class, typename... Extra>
+    void execute(Class &cl, const Extra &...extra) && {
+        cl.def("__getstate__", std::move(get));
+
+#if defined(PYBIND11_CPP14)
+        cl.def("__setstate__", [func = std::move(set)]
+#else
+        auto &func = set;
+        cl.def("__setstate__", [func]
+#endif
+        (value_and_holder &v_h, ArgState state) {
+            setstate<Class>(v_h, func(std::forward<ArgState>(state)),
+                            Py_TYPE(v_h.inst) != v_h.type->type);
+        }, is_new_style_constructor(), extra...);
+    }
+};
+
+PYBIND11_NAMESPACE_END(initimpl)
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(pybind11)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/internals.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/internals.h
new file mode 100644
index 0000000..133d2f4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/internals.h
@@ -0,0 +1,352 @@
+/*
+    pybind11/detail/internals.h: Internal data structure and related functions
+
+    Copyright (c) 2017 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "../pytypes.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+// Forward declarations
+inline PyTypeObject *make_static_property_type();
+inline PyTypeObject *make_default_metaclass();
+inline PyObject *make_object_base_type(PyTypeObject *metaclass);
+
+// The old Python Thread Local Storage (TLS) API is deprecated in Python 3.7 in favor of the new
+// Thread Specific Storage (TSS) API.
+#if PY_VERSION_HEX >= 0x03070000
+#    define PYBIND11_TLS_KEY_INIT(var) Py_tss_t *var = nullptr
+#    define PYBIND11_TLS_GET_VALUE(key) PyThread_tss_get((key))
+#    define PYBIND11_TLS_REPLACE_VALUE(key, value) PyThread_tss_set((key), (value))
+#    define PYBIND11_TLS_DELETE_VALUE(key) PyThread_tss_set((key), nullptr)
+#    define PYBIND11_TLS_FREE(key) PyThread_tss_free(key)
+#else
+    // Usually an int but a long on Cygwin64 with Python 3.x
+#    define PYBIND11_TLS_KEY_INIT(var) decltype(PyThread_create_key()) var = 0
+#    define PYBIND11_TLS_GET_VALUE(key) PyThread_get_key_value((key))
+#    if PY_MAJOR_VERSION < 3
+#        define PYBIND11_TLS_DELETE_VALUE(key)                               \
+             PyThread_delete_key_value(key)
+#        define PYBIND11_TLS_REPLACE_VALUE(key, value)                       \
+             do {                                                            \
+                 PyThread_delete_key_value((key));                           \
+                 PyThread_set_key_value((key), (value));                     \
+             } while (false)
+#    else
+#        define PYBIND11_TLS_DELETE_VALUE(key)                               \
+             PyThread_set_key_value((key), nullptr)
+#        define PYBIND11_TLS_REPLACE_VALUE(key, value)                       \
+             PyThread_set_key_value((key), (value))
+#    endif
+#    define PYBIND11_TLS_FREE(key) (void)key
+#endif
+
+// Python loads modules by default with dlopen with the RTLD_LOCAL flag; under libc++ and possibly
+// other STLs, this means `typeid(A)` from one module won't equal `typeid(A)` from another module
+// even when `A` is the same, non-hidden-visibility type (e.g. from a common include).  Under
+// libstdc++, this doesn't happen: equality and the type_index hash are based on the type name,
+// which works.  If not under a known-good stl, provide our own name-based hash and equality
+// functions that use the type name.
+#if defined(__GLIBCXX__)
+inline bool same_type(const std::type_info &lhs, const std::type_info &rhs) { return lhs == rhs; }
+using type_hash = std::hash<std::type_index>;
+using type_equal_to = std::equal_to<std::type_index>;
+#else
+inline bool same_type(const std::type_info &lhs, const std::type_info &rhs) {
+    return lhs.name() == rhs.name() || std::strcmp(lhs.name(), rhs.name()) == 0;
+}
+
+struct type_hash {
+    size_t operator()(const std::type_index &t) const {
+        size_t hash = 5381;
+        const char *ptr = t.name();
+        while (auto c = static_cast<unsigned char>(*ptr++))
+            hash = (hash * 33) ^ c;
+        return hash;
+    }
+};
+
+struct type_equal_to {
+    bool operator()(const std::type_index &lhs, const std::type_index &rhs) const {
+        return lhs.name() == rhs.name() || std::strcmp(lhs.name(), rhs.name()) == 0;
+    }
+};
+#endif
+
+template <typename value_type>
+using type_map = std::unordered_map<std::type_index, value_type, type_hash, type_equal_to>;
+
+struct override_hash {
+    inline size_t operator()(const std::pair<const PyObject *, const char *>& v) const {
+        size_t value = std::hash<const void *>()(v.first);
+        value ^= std::hash<const void *>()(v.second) + 0x9e3779b9 + (value<<6) + (value>>2);
+        return value;
+    }
+};
+
+/// Internal data structure used to track registered instances and types.
+/// Whenever binary incompatible changes are made to this structure,
+/// `PYBIND11_INTERNALS_VERSION` must be incremented.
+struct internals {
+    type_map<type_info *> registered_types_cpp; // std::type_index -> pybind11's type information
+    std::unordered_map<PyTypeObject *, std::vector<type_info *>> registered_types_py; // PyTypeObject* -> base type_info(s)
+    std::unordered_multimap<const void *, instance*> registered_instances; // void * -> instance*
+    std::unordered_set<std::pair<const PyObject *, const char *>, override_hash> inactive_override_cache;
+    type_map<std::vector<bool (*)(PyObject *, void *&)>> direct_conversions;
+    std::unordered_map<const PyObject *, std::vector<PyObject *>> patients;
+    std::forward_list<void (*) (std::exception_ptr)> registered_exception_translators;
+    std::unordered_map<std::string, void *> shared_data; // Custom data to be shared across extensions
+    std::vector<PyObject *> loader_patient_stack; // Used by `loader_life_support`
+    std::forward_list<std::string> static_strings; // Stores the std::strings backing detail::c_str()
+    PyTypeObject *static_property_type;
+    PyTypeObject *default_metaclass;
+    PyObject *instance_base;
+#if defined(WITH_THREAD)
+    PYBIND11_TLS_KEY_INIT(tstate);
+    PyInterpreterState *istate = nullptr;
+    ~internals() {
+        // This destructor is called *after* Py_Finalize() in finalize_interpreter().
+        // That *SHOULD BE* fine. The following details what happens whe PyThread_tss_free is called.
+        // PYBIND11_TLS_FREE is PyThread_tss_free on python 3.7+. On older python, it does nothing.
+        // PyThread_tss_free calls PyThread_tss_delete and PyMem_RawFree.
+        // PyThread_tss_delete just calls TlsFree (on Windows) or pthread_key_delete (on *NIX). Neither
+        // of those have anything to do with CPython internals.
+        // PyMem_RawFree *requires* that the `tstate` be allocated with the CPython allocator.
+        PYBIND11_TLS_FREE(tstate);
+    }
+#endif
+};
+
+/// Additional type information which does not fit into the PyTypeObject.
+/// Changes to this struct also require bumping `PYBIND11_INTERNALS_VERSION`.
+struct type_info {
+    PyTypeObject *type;
+    const std::type_info *cpptype;
+    size_t type_size, type_align, holder_size_in_ptrs;
+    void *(*operator_new)(size_t);
+    void (*init_instance)(instance *, const void *);
+    void (*dealloc)(value_and_holder &v_h);
+    std::vector<PyObject *(*)(PyObject *, PyTypeObject *)> implicit_conversions;
+    std::vector<std::pair<const std::type_info *, void *(*)(void *)>> implicit_casts;
+    std::vector<bool (*)(PyObject *, void *&)> *direct_conversions;
+    buffer_info *(*get_buffer)(PyObject *, void *) = nullptr;
+    void *get_buffer_data = nullptr;
+    void *(*module_local_load)(PyObject *, const type_info *) = nullptr;
+    /* A simple type never occurs as a (direct or indirect) parent
+     * of a class that makes use of multiple inheritance */
+    bool simple_type : 1;
+    /* True if there is no multiple inheritance in this type's inheritance tree */
+    bool simple_ancestors : 1;
+    /* for base vs derived holder_type checks */
+    bool default_holder : 1;
+    /* true if this is a type registered with py::module_local */
+    bool module_local : 1;
+};
+
+/// Tracks the `internals` and `type_info` ABI version independent of the main library version
+#define PYBIND11_INTERNALS_VERSION 4
+
+/// On MSVC, debug and release builds are not ABI-compatible!
+#if defined(_MSC_VER) && defined(_DEBUG)
+#   define PYBIND11_BUILD_TYPE "_debug"
+#else
+#   define PYBIND11_BUILD_TYPE ""
+#endif
+
+/// Let's assume that different compilers are ABI-incompatible.
+#if defined(_MSC_VER)
+#   define PYBIND11_COMPILER_TYPE "_msvc"
+#elif defined(__INTEL_COMPILER)
+#   define PYBIND11_COMPILER_TYPE "_icc"
+#elif defined(__clang__)
+#   define PYBIND11_COMPILER_TYPE "_clang"
+#elif defined(__PGI)
+#   define PYBIND11_COMPILER_TYPE "_pgi"
+#elif defined(__MINGW32__)
+#   define PYBIND11_COMPILER_TYPE "_mingw"
+#elif defined(__CYGWIN__)
+#   define PYBIND11_COMPILER_TYPE "_gcc_cygwin"
+#elif defined(__GNUC__)
+#   define PYBIND11_COMPILER_TYPE "_gcc"
+#else
+#   define PYBIND11_COMPILER_TYPE "_unknown"
+#endif
+
+#if defined(_LIBCPP_VERSION)
+#  define PYBIND11_STDLIB "_libcpp"
+#elif defined(__GLIBCXX__) || defined(__GLIBCPP__)
+#  define PYBIND11_STDLIB "_libstdcpp"
+#else
+#  define PYBIND11_STDLIB ""
+#endif
+
+/// On Linux/OSX, changes in __GXX_ABI_VERSION__ indicate ABI incompatibility.
+#if defined(__GXX_ABI_VERSION)
+#  define PYBIND11_BUILD_ABI "_cxxabi" PYBIND11_TOSTRING(__GXX_ABI_VERSION)
+#else
+#  define PYBIND11_BUILD_ABI ""
+#endif
+
+#if defined(WITH_THREAD)
+#  define PYBIND11_INTERNALS_KIND ""
+#else
+#  define PYBIND11_INTERNALS_KIND "_without_thread"
+#endif
+
+#define PYBIND11_INTERNALS_ID "__pybind11_internals_v" \
+    PYBIND11_TOSTRING(PYBIND11_INTERNALS_VERSION) PYBIND11_INTERNALS_KIND PYBIND11_COMPILER_TYPE PYBIND11_STDLIB PYBIND11_BUILD_ABI PYBIND11_BUILD_TYPE "__"
+
+#define PYBIND11_MODULE_LOCAL_ID "__pybind11_module_local_v" \
+    PYBIND11_TOSTRING(PYBIND11_INTERNALS_VERSION) PYBIND11_INTERNALS_KIND PYBIND11_COMPILER_TYPE PYBIND11_STDLIB PYBIND11_BUILD_ABI PYBIND11_BUILD_TYPE "__"
+
+/// Each module locally stores a pointer to the `internals` data. The data
+/// itself is shared among modules with the same `PYBIND11_INTERNALS_ID`.
+inline internals **&get_internals_pp() {
+    static internals **internals_pp = nullptr;
+    return internals_pp;
+}
+
+inline void translate_exception(std::exception_ptr p) {
+    try {
+        if (p) std::rethrow_exception(p);
+    } catch (error_already_set &e)           { e.restore();                                    return;
+    } catch (const builtin_exception &e)     { e.set_error();                                  return;
+    } catch (const std::bad_alloc &e)        { PyErr_SetString(PyExc_MemoryError,   e.what()); return;
+    } catch (const std::domain_error &e)     { PyErr_SetString(PyExc_ValueError,    e.what()); return;
+    } catch (const std::invalid_argument &e) { PyErr_SetString(PyExc_ValueError,    e.what()); return;
+    } catch (const std::length_error &e)     { PyErr_SetString(PyExc_ValueError,    e.what()); return;
+    } catch (const std::out_of_range &e)     { PyErr_SetString(PyExc_IndexError,    e.what()); return;
+    } catch (const std::range_error &e)      { PyErr_SetString(PyExc_ValueError,    e.what()); return;
+    } catch (const std::overflow_error &e)   { PyErr_SetString(PyExc_OverflowError, e.what()); return;
+    } catch (const std::exception &e)        { PyErr_SetString(PyExc_RuntimeError,  e.what()); return;
+    } catch (...) {
+        PyErr_SetString(PyExc_RuntimeError, "Caught an unknown exception!");
+        return;
+    }
+}
+
+#if !defined(__GLIBCXX__)
+inline void translate_local_exception(std::exception_ptr p) {
+    try {
+        if (p) std::rethrow_exception(p);
+    } catch (error_already_set &e)       { e.restore();   return;
+    } catch (const builtin_exception &e) { e.set_error(); return;
+    }
+}
+#endif
+
+/// Return a reference to the current `internals` data
+PYBIND11_NOINLINE inline internals &get_internals() {
+    auto **&internals_pp = get_internals_pp();
+    if (internals_pp && *internals_pp)
+        return **internals_pp;
+
+    // Ensure that the GIL is held since we will need to make Python calls.
+    // Cannot use py::gil_scoped_acquire here since that constructor calls get_internals.
+    struct gil_scoped_acquire_local {
+        gil_scoped_acquire_local() : state (PyGILState_Ensure()) {}
+        ~gil_scoped_acquire_local() { PyGILState_Release(state); }
+        const PyGILState_STATE state;
+    } gil;
+
+    constexpr auto *id = PYBIND11_INTERNALS_ID;
+    auto builtins = handle(PyEval_GetBuiltins());
+    if (builtins.contains(id) && isinstance<capsule>(builtins[id])) {
+        internals_pp = static_cast<internals **>(capsule(builtins[id]));
+
+        // We loaded builtins through python's builtins, which means that our `error_already_set`
+        // and `builtin_exception` may be different local classes than the ones set up in the
+        // initial exception translator, below, so add another for our local exception classes.
+        //
+        // libstdc++ doesn't require this (types there are identified only by name)
+#if !defined(__GLIBCXX__)
+        (*internals_pp)->registered_exception_translators.push_front(&translate_local_exception);
+#endif
+    } else {
+        if (!internals_pp) internals_pp = new internals*();
+        auto *&internals_ptr = *internals_pp;
+        internals_ptr = new internals();
+#if defined(WITH_THREAD)
+
+        #if PY_VERSION_HEX < 0x03090000
+                PyEval_InitThreads();
+        #endif
+        PyThreadState *tstate = PyThreadState_Get();
+        #if PY_VERSION_HEX >= 0x03070000
+            internals_ptr->tstate = PyThread_tss_alloc();
+            if (!internals_ptr->tstate || PyThread_tss_create(internals_ptr->tstate))
+                pybind11_fail("get_internals: could not successfully initialize the TSS key!");
+            PyThread_tss_set(internals_ptr->tstate, tstate);
+        #else
+            internals_ptr->tstate = PyThread_create_key();
+            if (internals_ptr->tstate == -1)
+                pybind11_fail("get_internals: could not successfully initialize the TLS key!");
+            PyThread_set_key_value(internals_ptr->tstate, tstate);
+        #endif
+        internals_ptr->istate = tstate->interp;
+#endif
+        builtins[id] = capsule(internals_pp);
+        internals_ptr->registered_exception_translators.push_front(&translate_exception);
+        internals_ptr->static_property_type = make_static_property_type();
+        internals_ptr->default_metaclass = make_default_metaclass();
+        internals_ptr->instance_base = make_object_base_type(internals_ptr->default_metaclass);
+    }
+    return **internals_pp;
+}
+
+/// Works like `internals.registered_types_cpp`, but for module-local registered types:
+inline type_map<type_info *> &registered_local_types_cpp() {
+    static type_map<type_info *> locals{};
+    return locals;
+}
+
+/// Constructs a std::string with the given arguments, stores it in `internals`, and returns its
+/// `c_str()`.  Such strings objects have a long storage duration -- the internal strings are only
+/// cleared when the program exits or after interpreter shutdown (when embedding), and so are
+/// suitable for c-style strings needed by Python internals (such as PyTypeObject's tp_name).
+template <typename... Args>
+const char *c_str(Args &&...args) {
+    auto &strings = get_internals().static_strings;
+    strings.emplace_front(std::forward<Args>(args)...);
+    return strings.front().c_str();
+}
+
+PYBIND11_NAMESPACE_END(detail)
+
+/// Returns a named pointer that is shared among all extension modules (using the same
+/// pybind11 version) running in the current interpreter. Names starting with underscores
+/// are reserved for internal usage. Returns `nullptr` if no matching entry was found.
+inline PYBIND11_NOINLINE void *get_shared_data(const std::string &name) {
+    auto &internals = detail::get_internals();
+    auto it = internals.shared_data.find(name);
+    return it != internals.shared_data.end() ? it->second : nullptr;
+}
+
+/// Set the shared data that can be later recovered by `get_shared_data()`.
+inline PYBIND11_NOINLINE void *set_shared_data(const std::string &name, void *data) {
+    detail::get_internals().shared_data[name] = data;
+    return data;
+}
+
+/// Returns a typed reference to a shared data entry (by using `get_shared_data()`) if
+/// such entry exists. Otherwise, a new object of default-constructible type `T` is
+/// added to the shared data under the given name and a reference to it is returned.
+template<typename T>
+T &get_or_create_shared_data(const std::string &name) {
+    auto &internals = detail::get_internals();
+    auto it = internals.shared_data.find(name);
+    T *ptr = (T *) (it != internals.shared_data.end() ? it->second : nullptr);
+    if (!ptr) {
+        ptr = new T();
+        internals.shared_data[name] = ptr;
+    }
+    return *ptr;
+}
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/typeid.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/typeid.h
new file mode 100644
index 0000000..148889f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/detail/typeid.h
@@ -0,0 +1,55 @@
+/*
+    pybind11/detail/typeid.h: Compiler-independent access to type identifiers
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include <cstdio>
+#include <cstdlib>
+
+#if defined(__GNUG__)
+#include <cxxabi.h>
+#endif
+
+#include "common.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+/// Erase all occurrences of a substring
+inline void erase_all(std::string &string, const std::string &search) {
+    for (size_t pos = 0;;) {
+        pos = string.find(search, pos);
+        if (pos == std::string::npos) break;
+        string.erase(pos, search.length());
+    }
+}
+
+PYBIND11_NOINLINE inline void clean_type_id(std::string &name) {
+#if defined(__GNUG__)
+    int status = 0;
+    std::unique_ptr<char, void (*)(void *)> res {
+        abi::__cxa_demangle(name.c_str(), nullptr, nullptr, &status), std::free };
+    if (status == 0)
+        name = res.get();
+#else
+    detail::erase_all(name, "class ");
+    detail::erase_all(name, "struct ");
+    detail::erase_all(name, "enum ");
+#endif
+    detail::erase_all(name, "pybind11::");
+}
+PYBIND11_NAMESPACE_END(detail)
+
+/// Return a string representation of a C++ type
+template <typename T> static std::string type_id() {
+    std::string name(typeid(T).name());
+    detail::clean_type_id(name);
+    return name;
+}
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eigen.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eigen.h
new file mode 100644
index 0000000..58582b2
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eigen.h
@@ -0,0 +1,607 @@
+/*
+    pybind11/eigen.h: Transparent conversion for dense and sparse Eigen matrices
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "numpy.h"
+
+#if defined(__INTEL_COMPILER)
+#  pragma warning(disable: 1682) // implicit conversion of a 64-bit integral type to a smaller integral type (potential portability problem)
+#elif defined(__GNUG__) || defined(__clang__)
+#  pragma GCC diagnostic push
+#  pragma GCC diagnostic ignored "-Wconversion"
+#  pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#  ifdef __clang__
+//   Eigen generates a bunch of implicit-copy-constructor-is-deprecated warnings with -Wdeprecated
+//   under Clang, so disable that warning here:
+#    pragma GCC diagnostic ignored "-Wdeprecated"
+#  endif
+#  if __GNUC__ >= 7
+#    pragma GCC diagnostic ignored "-Wint-in-bool-context"
+#  endif
+#endif
+
+#if defined(_MSC_VER)
+#  pragma warning(push)
+#  pragma warning(disable: 4127) // warning C4127: Conditional expression is constant
+#  pragma warning(disable: 4996) // warning C4996: std::unary_negate is deprecated in C++17
+#endif
+
+#include <Eigen/Core>
+#include <Eigen/SparseCore>
+
+// Eigen prior to 3.2.7 doesn't have proper move constructors--but worse, some classes get implicit
+// move constructors that break things.  We could detect this an explicitly copy, but an extra copy
+// of matrices seems highly undesirable.
+static_assert(EIGEN_VERSION_AT_LEAST(3,2,7), "Eigen support in pybind11 requires Eigen >= 3.2.7");
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+// Provide a convenience alias for easier pass-by-ref usage with fully dynamic strides:
+using EigenDStride = Eigen::Stride<Eigen::Dynamic, Eigen::Dynamic>;
+template <typename MatrixType> using EigenDRef = Eigen::Ref<MatrixType, 0, EigenDStride>;
+template <typename MatrixType> using EigenDMap = Eigen::Map<MatrixType, 0, EigenDStride>;
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+#if EIGEN_VERSION_AT_LEAST(3,3,0)
+using EigenIndex = Eigen::Index;
+#else
+using EigenIndex = EIGEN_DEFAULT_DENSE_INDEX_TYPE;
+#endif
+
+// Matches Eigen::Map, Eigen::Ref, blocks, etc:
+template <typename T> using is_eigen_dense_map = all_of<is_template_base_of<Eigen::DenseBase, T>, std::is_base_of<Eigen::MapBase<T, Eigen::ReadOnlyAccessors>, T>>;
+template <typename T> using is_eigen_mutable_map = std::is_base_of<Eigen::MapBase<T, Eigen::WriteAccessors>, T>;
+template <typename T> using is_eigen_dense_plain = all_of<negation<is_eigen_dense_map<T>>, is_template_base_of<Eigen::PlainObjectBase, T>>;
+template <typename T> using is_eigen_sparse = is_template_base_of<Eigen::SparseMatrixBase, T>;
+// Test for objects inheriting from EigenBase<Derived> that aren't captured by the above.  This
+// basically covers anything that can be assigned to a dense matrix but that don't have a typical
+// matrix data layout that can be copied from their .data().  For example, DiagonalMatrix and
+// SelfAdjointView fall into this category.
+template <typename T> using is_eigen_other = all_of<
+    is_template_base_of<Eigen::EigenBase, T>,
+    negation<any_of<is_eigen_dense_map<T>, is_eigen_dense_plain<T>, is_eigen_sparse<T>>>
+>;
+
+// Captures numpy/eigen conformability status (returned by EigenProps::conformable()):
+template <bool EigenRowMajor> struct EigenConformable {
+    bool conformable = false;
+    EigenIndex rows = 0, cols = 0;
+    EigenDStride stride{0, 0};      // Only valid if negativestrides is false!
+    bool negativestrides = false;   // If true, do not use stride!
+
+    EigenConformable(bool fits = false) : conformable{fits} {}
+    // Matrix type:
+    EigenConformable(EigenIndex r, EigenIndex c,
+            EigenIndex rstride, EigenIndex cstride) :
+        conformable{true}, rows{r}, cols{c} {
+        // TODO: when Eigen bug #747 is fixed, remove the tests for non-negativity. http://eigen.tuxfamily.org/bz/show_bug.cgi?id=747
+        if (rstride < 0 || cstride < 0) {
+            negativestrides = true;
+        } else {
+            stride = {EigenRowMajor ? rstride : cstride /* outer stride */,
+                      EigenRowMajor ? cstride : rstride /* inner stride */ };
+        }
+    }
+    // Vector type:
+    EigenConformable(EigenIndex r, EigenIndex c, EigenIndex stride)
+        : EigenConformable(r, c, r == 1 ? c*stride : stride, c == 1 ? r : r*stride) {}
+
+    template <typename props> bool stride_compatible() const {
+        // To have compatible strides, we need (on both dimensions) one of fully dynamic strides,
+        // matching strides, or a dimension size of 1 (in which case the stride value is irrelevant)
+        return
+            !negativestrides &&
+            (props::inner_stride == Eigen::Dynamic || props::inner_stride == stride.inner() ||
+                (EigenRowMajor ? cols : rows) == 1) &&
+            (props::outer_stride == Eigen::Dynamic || props::outer_stride == stride.outer() ||
+                (EigenRowMajor ? rows : cols) == 1);
+    }
+    operator bool() const { return conformable; }
+};
+
+template <typename Type> struct eigen_extract_stride { using type = Type; };
+template <typename PlainObjectType, int MapOptions, typename StrideType>
+struct eigen_extract_stride<Eigen::Map<PlainObjectType, MapOptions, StrideType>> { using type = StrideType; };
+template <typename PlainObjectType, int Options, typename StrideType>
+struct eigen_extract_stride<Eigen::Ref<PlainObjectType, Options, StrideType>> { using type = StrideType; };
+
+// Helper struct for extracting information from an Eigen type
+template <typename Type_> struct EigenProps {
+    using Type = Type_;
+    using Scalar = typename Type::Scalar;
+    using StrideType = typename eigen_extract_stride<Type>::type;
+    static constexpr EigenIndex
+        rows = Type::RowsAtCompileTime,
+        cols = Type::ColsAtCompileTime,
+        size = Type::SizeAtCompileTime;
+    static constexpr bool
+        row_major = Type::IsRowMajor,
+        vector = Type::IsVectorAtCompileTime, // At least one dimension has fixed size 1
+        fixed_rows = rows != Eigen::Dynamic,
+        fixed_cols = cols != Eigen::Dynamic,
+        fixed = size != Eigen::Dynamic, // Fully-fixed size
+        dynamic = !fixed_rows && !fixed_cols; // Fully-dynamic size
+
+    template <EigenIndex i, EigenIndex ifzero> using if_zero = std::integral_constant<EigenIndex, i == 0 ? ifzero : i>;
+    static constexpr EigenIndex inner_stride = if_zero<StrideType::InnerStrideAtCompileTime, 1>::value,
+                                outer_stride = if_zero<StrideType::OuterStrideAtCompileTime,
+                                                       vector ? size : row_major ? cols : rows>::value;
+    static constexpr bool dynamic_stride = inner_stride == Eigen::Dynamic && outer_stride == Eigen::Dynamic;
+    static constexpr bool requires_row_major = !dynamic_stride && !vector && (row_major ? inner_stride : outer_stride) == 1;
+    static constexpr bool requires_col_major = !dynamic_stride && !vector && (row_major ? outer_stride : inner_stride) == 1;
+
+    // Takes an input array and determines whether we can make it fit into the Eigen type.  If
+    // the array is a vector, we attempt to fit it into either an Eigen 1xN or Nx1 vector
+    // (preferring the latter if it will fit in either, i.e. for a fully dynamic matrix type).
+    static EigenConformable<row_major> conformable(const array &a) {
+        const auto dims = a.ndim();
+        if (dims < 1 || dims > 2)
+            return false;
+
+        if (dims == 2) { // Matrix type: require exact match (or dynamic)
+
+            EigenIndex
+                np_rows = a.shape(0),
+                np_cols = a.shape(1),
+                np_rstride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar)),
+                np_cstride = a.strides(1) / static_cast<ssize_t>(sizeof(Scalar));
+            if ((fixed_rows && np_rows != rows) || (fixed_cols && np_cols != cols))
+                return false;
+
+            return {np_rows, np_cols, np_rstride, np_cstride};
+        }
+
+        // Otherwise we're storing an n-vector.  Only one of the strides will be used, but whichever
+        // is used, we want the (single) numpy stride value.
+        const EigenIndex n = a.shape(0),
+              stride = a.strides(0) / static_cast<ssize_t>(sizeof(Scalar));
+
+        if (vector) { // Eigen type is a compile-time vector
+            if (fixed && size != n)
+                return false; // Vector size mismatch
+            return {rows == 1 ? 1 : n, cols == 1 ? 1 : n, stride};
+        }
+        else if (fixed) {
+            // The type has a fixed size, but is not a vector: abort
+            return false;
+        }
+        else if (fixed_cols) {
+            // Since this isn't a vector, cols must be != 1.  We allow this only if it exactly
+            // equals the number of elements (rows is Dynamic, and so 1 row is allowed).
+            if (cols != n) return false;
+            return {1, n, stride};
+        }
+        else {
+            // Otherwise it's either fully dynamic, or column dynamic; both become a column vector
+            if (fixed_rows && rows != n) return false;
+            return {n, 1, stride};
+        }
+    }
+
+    static constexpr bool show_writeable = is_eigen_dense_map<Type>::value && is_eigen_mutable_map<Type>::value;
+    static constexpr bool show_order = is_eigen_dense_map<Type>::value;
+    static constexpr bool show_c_contiguous = show_order && requires_row_major;
+    static constexpr bool show_f_contiguous = !show_c_contiguous && show_order && requires_col_major;
+
+    static constexpr auto descriptor =
+        _("numpy.ndarray[") + npy_format_descriptor<Scalar>::name +
+        _("[")  + _<fixed_rows>(_<(size_t) rows>(), _("m")) +
+        _(", ") + _<fixed_cols>(_<(size_t) cols>(), _("n")) +
+        _("]") +
+        // For a reference type (e.g. Ref<MatrixXd>) we have other constraints that might need to be
+        // satisfied: writeable=True (for a mutable reference), and, depending on the map's stride
+        // options, possibly f_contiguous or c_contiguous.  We include them in the descriptor output
+        // to provide some hint as to why a TypeError is occurring (otherwise it can be confusing to
+        // see that a function accepts a 'numpy.ndarray[float64[3,2]]' and an error message that you
+        // *gave* a numpy.ndarray of the right type and dimensions.
+        _<show_writeable>(", flags.writeable", "") +
+        _<show_c_contiguous>(", flags.c_contiguous", "") +
+        _<show_f_contiguous>(", flags.f_contiguous", "") +
+        _("]");
+};
+
+// Casts an Eigen type to numpy array.  If given a base, the numpy array references the src data,
+// otherwise it'll make a copy.  writeable lets you turn off the writeable flag for the array.
+template <typename props> handle eigen_array_cast(typename props::Type const &src, handle base = handle(), bool writeable = true) {
+    constexpr ssize_t elem_size = sizeof(typename props::Scalar);
+    array a;
+    if (props::vector)
+        a = array({ src.size() }, { elem_size * src.innerStride() }, src.data(), base);
+    else
+        a = array({ src.rows(), src.cols() }, { elem_size * src.rowStride(), elem_size * src.colStride() },
+                  src.data(), base);
+
+    if (!writeable)
+        array_proxy(a.ptr())->flags &= ~detail::npy_api::NPY_ARRAY_WRITEABLE_;
+
+    return a.release();
+}
+
+// Takes an lvalue ref to some Eigen type and a (python) base object, creating a numpy array that
+// reference the Eigen object's data with `base` as the python-registered base class (if omitted,
+// the base will be set to None, and lifetime management is up to the caller).  The numpy array is
+// non-writeable if the given type is const.
+template <typename props, typename Type>
+handle eigen_ref_array(Type &src, handle parent = none()) {
+    // none here is to get past array's should-we-copy detection, which currently always
+    // copies when there is no base.  Setting the base to None should be harmless.
+    return eigen_array_cast<props>(src, parent, !std::is_const<Type>::value);
+}
+
+// Takes a pointer to some dense, plain Eigen type, builds a capsule around it, then returns a numpy
+// array that references the encapsulated data with a python-side reference to the capsule to tie
+// its destruction to that of any dependent python objects.  Const-ness is determined by whether or
+// not the Type of the pointer given is const.
+template <typename props, typename Type, typename = enable_if_t<is_eigen_dense_plain<Type>::value>>
+handle eigen_encapsulate(Type *src) {
+    capsule base(src, [](void *o) { delete static_cast<Type *>(o); });
+    return eigen_ref_array<props>(*src, base);
+}
+
+// Type caster for regular, dense matrix types (e.g. MatrixXd), but not maps/refs/etc. of dense
+// types.
+template<typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_dense_plain<Type>::value>> {
+    using Scalar = typename Type::Scalar;
+    using props = EigenProps<Type>;
+
+    bool load(handle src, bool convert) {
+        // If we're in no-convert mode, only load if given an array of the correct type
+        if (!convert && !isinstance<array_t<Scalar>>(src))
+            return false;
+
+        // Coerce into an array, but don't do type conversion yet; the copy below handles it.
+        auto buf = array::ensure(src);
+
+        if (!buf)
+            return false;
+
+        auto dims = buf.ndim();
+        if (dims < 1 || dims > 2)
+            return false;
+
+        auto fits = props::conformable(buf);
+        if (!fits)
+            return false;
+
+        // Allocate the new type, then build a numpy reference into it
+        value = Type(fits.rows, fits.cols);
+        auto ref = reinterpret_steal<array>(eigen_ref_array<props>(value));
+        if (dims == 1) ref = ref.squeeze();
+        else if (ref.ndim() == 1) buf = buf.squeeze();
+
+        int result = detail::npy_api::get().PyArray_CopyInto_(ref.ptr(), buf.ptr());
+
+        if (result < 0) { // Copy failed!
+            PyErr_Clear();
+            return false;
+        }
+
+        return true;
+    }
+
+private:
+
+    // Cast implementation
+    template <typename CType>
+    static handle cast_impl(CType *src, return_value_policy policy, handle parent) {
+        switch (policy) {
+            case return_value_policy::take_ownership:
+            case return_value_policy::automatic:
+                return eigen_encapsulate<props>(src);
+            case return_value_policy::move:
+                return eigen_encapsulate<props>(new CType(std::move(*src)));
+            case return_value_policy::copy:
+                return eigen_array_cast<props>(*src);
+            case return_value_policy::reference:
+            case return_value_policy::automatic_reference:
+                return eigen_ref_array<props>(*src);
+            case return_value_policy::reference_internal:
+                return eigen_ref_array<props>(*src, parent);
+            default:
+                throw cast_error("unhandled return_value_policy: should not happen!");
+        };
+    }
+
+public:
+
+    // Normal returned non-reference, non-const value:
+    static handle cast(Type &&src, return_value_policy /* policy */, handle parent) {
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+    // If you return a non-reference const, we mark the numpy array readonly:
+    static handle cast(const Type &&src, return_value_policy /* policy */, handle parent) {
+        return cast_impl(&src, return_value_policy::move, parent);
+    }
+    // lvalue reference return; default (automatic) becomes copy
+    static handle cast(Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference)
+            policy = return_value_policy::copy;
+        return cast_impl(&src, policy, parent);
+    }
+    // const lvalue reference return; default (automatic) becomes copy
+    static handle cast(const Type &src, return_value_policy policy, handle parent) {
+        if (policy == return_value_policy::automatic || policy == return_value_policy::automatic_reference)
+            policy = return_value_policy::copy;
+        return cast(&src, policy, parent);
+    }
+    // non-const pointer return
+    static handle cast(Type *src, return_value_policy policy, handle parent) {
+        return cast_impl(src, policy, parent);
+    }
+    // const pointer return
+    static handle cast(const Type *src, return_value_policy policy, handle parent) {
+        return cast_impl(src, policy, parent);
+    }
+
+    static constexpr auto name = props::descriptor;
+
+    operator Type*() { return &value; }
+    operator Type&() { return value; }
+    operator Type&&() && { return std::move(value); }
+    template <typename T> using cast_op_type = movable_cast_op_type<T>;
+
+private:
+    Type value;
+};
+
+// Base class for casting reference/map/block/etc. objects back to python.
+template <typename MapType> struct eigen_map_caster {
+private:
+    using props = EigenProps<MapType>;
+
+public:
+
+    // Directly referencing a ref/map's data is a bit dangerous (whatever the map/ref points to has
+    // to stay around), but we'll allow it under the assumption that you know what you're doing (and
+    // have an appropriate keep_alive in place).  We return a numpy array pointing directly at the
+    // ref's data (The numpy array ends up read-only if the ref was to a const matrix type.) Note
+    // that this means you need to ensure you don't destroy the object in some other way (e.g. with
+    // an appropriate keep_alive, or with a reference to a statically allocated matrix).
+    static handle cast(const MapType &src, return_value_policy policy, handle parent) {
+        switch (policy) {
+            case return_value_policy::copy:
+                return eigen_array_cast<props>(src);
+            case return_value_policy::reference_internal:
+                return eigen_array_cast<props>(src, parent, is_eigen_mutable_map<MapType>::value);
+            case return_value_policy::reference:
+            case return_value_policy::automatic:
+            case return_value_policy::automatic_reference:
+                return eigen_array_cast<props>(src, none(), is_eigen_mutable_map<MapType>::value);
+            default:
+                // move, take_ownership don't make any sense for a ref/map:
+                pybind11_fail("Invalid return_value_policy for Eigen Map/Ref/Block type");
+        }
+    }
+
+    static constexpr auto name = props::descriptor;
+
+    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
+    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
+    // you end up here if you try anyway.
+    bool load(handle, bool) = delete;
+    operator MapType() = delete;
+    template <typename> using cast_op_type = MapType;
+};
+
+// We can return any map-like object (but can only load Refs, specialized next):
+template <typename Type> struct type_caster<Type, enable_if_t<is_eigen_dense_map<Type>::value>>
+    : eigen_map_caster<Type> {};
+
+// Loader for Ref<...> arguments.  See the documentation for info on how to make this work without
+// copying (it requires some extra effort in many cases).
+template <typename PlainObjectType, typename StrideType>
+struct type_caster<
+    Eigen::Ref<PlainObjectType, 0, StrideType>,
+    enable_if_t<is_eigen_dense_map<Eigen::Ref<PlainObjectType, 0, StrideType>>::value>
+> : public eigen_map_caster<Eigen::Ref<PlainObjectType, 0, StrideType>> {
+private:
+    using Type = Eigen::Ref<PlainObjectType, 0, StrideType>;
+    using props = EigenProps<Type>;
+    using Scalar = typename props::Scalar;
+    using MapType = Eigen::Map<PlainObjectType, 0, StrideType>;
+    using Array = array_t<Scalar, array::forcecast |
+                ((props::row_major ? props::inner_stride : props::outer_stride) == 1 ? array::c_style :
+                 (props::row_major ? props::outer_stride : props::inner_stride) == 1 ? array::f_style : 0)>;
+    static constexpr bool need_writeable = is_eigen_mutable_map<Type>::value;
+    // Delay construction (these have no default constructor)
+    std::unique_ptr<MapType> map;
+    std::unique_ptr<Type> ref;
+    // Our array.  When possible, this is just a numpy array pointing to the source data, but
+    // sometimes we can't avoid copying (e.g. input is not a numpy array at all, has an incompatible
+    // layout, or is an array of a type that needs to be converted).  Using a numpy temporary
+    // (rather than an Eigen temporary) saves an extra copy when we need both type conversion and
+    // storage order conversion.  (Note that we refuse to use this temporary copy when loading an
+    // argument for a Ref<M> with M non-const, i.e. a read-write reference).
+    Array copy_or_ref;
+public:
+    bool load(handle src, bool convert) {
+        // First check whether what we have is already an array of the right type.  If not, we can't
+        // avoid a copy (because the copy is also going to do type conversion).
+        bool need_copy = !isinstance<Array>(src);
+
+        EigenConformable<props::row_major> fits;
+        if (!need_copy) {
+            // We don't need a converting copy, but we also need to check whether the strides are
+            // compatible with the Ref's stride requirements
+            Array aref = reinterpret_borrow<Array>(src);
+
+            if (aref && (!need_writeable || aref.writeable())) {
+                fits = props::conformable(aref);
+                if (!fits) return false; // Incompatible dimensions
+                if (!fits.template stride_compatible<props>())
+                    need_copy = true;
+                else
+                    copy_or_ref = std::move(aref);
+            }
+            else {
+                need_copy = true;
+            }
+        }
+
+        if (need_copy) {
+            // We need to copy: If we need a mutable reference, or we're not supposed to convert
+            // (either because we're in the no-convert overload pass, or because we're explicitly
+            // instructed not to copy (via `py::arg().noconvert()`) we have to fail loading.
+            if (!convert || need_writeable) return false;
+
+            Array copy = Array::ensure(src);
+            if (!copy) return false;
+            fits = props::conformable(copy);
+            if (!fits || !fits.template stride_compatible<props>())
+                return false;
+            copy_or_ref = std::move(copy);
+            loader_life_support::add_patient(copy_or_ref);
+        }
+
+        ref.reset();
+        map.reset(new MapType(data(copy_or_ref), fits.rows, fits.cols, make_stride(fits.stride.outer(), fits.stride.inner())));
+        ref.reset(new Type(*map));
+
+        return true;
+    }
+
+    operator Type*() { return ref.get(); }
+    operator Type&() { return *ref; }
+    template <typename _T> using cast_op_type = pybind11::detail::cast_op_type<_T>;
+
+private:
+    template <typename T = Type, enable_if_t<is_eigen_mutable_map<T>::value, int> = 0>
+    Scalar *data(Array &a) { return a.mutable_data(); }
+
+    template <typename T = Type, enable_if_t<!is_eigen_mutable_map<T>::value, int> = 0>
+    const Scalar *data(Array &a) { return a.data(); }
+
+    // Attempt to figure out a constructor of `Stride` that will work.
+    // If both strides are fixed, use a default constructor:
+    template <typename S> using stride_ctor_default = bool_constant<
+        S::InnerStrideAtCompileTime != Eigen::Dynamic && S::OuterStrideAtCompileTime != Eigen::Dynamic &&
+        std::is_default_constructible<S>::value>;
+    // Otherwise, if there is a two-index constructor, assume it is (outer,inner) like
+    // Eigen::Stride, and use it:
+    template <typename S> using stride_ctor_dual = bool_constant<
+        !stride_ctor_default<S>::value && std::is_constructible<S, EigenIndex, EigenIndex>::value>;
+    // Otherwise, if there is a one-index constructor, and just one of the strides is dynamic, use
+    // it (passing whichever stride is dynamic).
+    template <typename S> using stride_ctor_outer = bool_constant<
+        !any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value &&
+        S::OuterStrideAtCompileTime == Eigen::Dynamic && S::InnerStrideAtCompileTime != Eigen::Dynamic &&
+        std::is_constructible<S, EigenIndex>::value>;
+    template <typename S> using stride_ctor_inner = bool_constant<
+        !any_of<stride_ctor_default<S>, stride_ctor_dual<S>>::value &&
+        S::InnerStrideAtCompileTime == Eigen::Dynamic && S::OuterStrideAtCompileTime != Eigen::Dynamic &&
+        std::is_constructible<S, EigenIndex>::value>;
+
+    template <typename S = StrideType, enable_if_t<stride_ctor_default<S>::value, int> = 0>
+    static S make_stride(EigenIndex, EigenIndex) { return S(); }
+    template <typename S = StrideType, enable_if_t<stride_ctor_dual<S>::value, int> = 0>
+    static S make_stride(EigenIndex outer, EigenIndex inner) { return S(outer, inner); }
+    template <typename S = StrideType, enable_if_t<stride_ctor_outer<S>::value, int> = 0>
+    static S make_stride(EigenIndex outer, EigenIndex) { return S(outer); }
+    template <typename S = StrideType, enable_if_t<stride_ctor_inner<S>::value, int> = 0>
+    static S make_stride(EigenIndex, EigenIndex inner) { return S(inner); }
+
+};
+
+// type_caster for special matrix types (e.g. DiagonalMatrix), which are EigenBase, but not
+// EigenDense (i.e. they don't have a data(), at least not with the usual matrix layout).
+// load() is not supported, but we can cast them into the python domain by first copying to a
+// regular Eigen::Matrix, then casting that.
+template <typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_other<Type>::value>> {
+protected:
+    using Matrix = Eigen::Matrix<typename Type::Scalar, Type::RowsAtCompileTime, Type::ColsAtCompileTime>;
+    using props = EigenProps<Matrix>;
+public:
+    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
+        handle h = eigen_encapsulate<props>(new Matrix(src));
+        return h;
+    }
+    static handle cast(const Type *src, return_value_policy policy, handle parent) { return cast(*src, policy, parent); }
+
+    static constexpr auto name = props::descriptor;
+
+    // Explicitly delete these: support python -> C++ conversion on these (i.e. these can be return
+    // types but not bound arguments).  We still provide them (with an explicitly delete) so that
+    // you end up here if you try anyway.
+    bool load(handle, bool) = delete;
+    operator Type() = delete;
+    template <typename> using cast_op_type = Type;
+};
+
+template<typename Type>
+struct type_caster<Type, enable_if_t<is_eigen_sparse<Type>::value>> {
+    typedef typename Type::Scalar Scalar;
+    typedef remove_reference_t<decltype(*std::declval<Type>().outerIndexPtr())> StorageIndex;
+    typedef typename Type::Index Index;
+    static constexpr bool rowMajor = Type::IsRowMajor;
+
+    bool load(handle src, bool) {
+        if (!src)
+            return false;
+
+        auto obj = reinterpret_borrow<object>(src);
+        object sparse_module = module_::import("scipy.sparse");
+        object matrix_type = sparse_module.attr(
+            rowMajor ? "csr_matrix" : "csc_matrix");
+
+        if (!type::handle_of(obj).is(matrix_type)) {
+            try {
+                obj = matrix_type(obj);
+            } catch (const error_already_set &) {
+                return false;
+            }
+        }
+
+        auto values = array_t<Scalar>((object) obj.attr("data"));
+        auto innerIndices = array_t<StorageIndex>((object) obj.attr("indices"));
+        auto outerIndices = array_t<StorageIndex>((object) obj.attr("indptr"));
+        auto shape = pybind11::tuple((pybind11::object) obj.attr("shape"));
+        auto nnz = obj.attr("nnz").cast<Index>();
+
+        if (!values || !innerIndices || !outerIndices)
+            return false;
+
+        value = Eigen::MappedSparseMatrix<Scalar, Type::Flags, StorageIndex>(
+            shape[0].cast<Index>(), shape[1].cast<Index>(), nnz,
+            outerIndices.mutable_data(), innerIndices.mutable_data(), values.mutable_data());
+
+        return true;
+    }
+
+    static handle cast(const Type &src, return_value_policy /* policy */, handle /* parent */) {
+        const_cast<Type&>(src).makeCompressed();
+
+        object matrix_type = module_::import("scipy.sparse").attr(
+            rowMajor ? "csr_matrix" : "csc_matrix");
+
+        array data(src.nonZeros(), src.valuePtr());
+        array outerIndices((rowMajor ? src.rows() : src.cols()) + 1, src.outerIndexPtr());
+        array innerIndices(src.nonZeros(), src.innerIndexPtr());
+
+        return matrix_type(
+            std::make_tuple(data, innerIndices, outerIndices),
+            std::make_pair(src.rows(), src.cols())
+        ).release();
+    }
+
+    PYBIND11_TYPE_CASTER(Type, _<(Type::IsRowMajor) != 0>("scipy.sparse.csr_matrix[", "scipy.sparse.csc_matrix[")
+            + npy_format_descriptor<Scalar>::name + _("]"));
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
+
+#if defined(__GNUG__) || defined(__clang__)
+#  pragma GCC diagnostic pop
+#elif defined(_MSC_VER)
+#  pragma warning(pop)
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/embed.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/embed.h
new file mode 100644
index 0000000..aebf6b2
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/embed.h
@@ -0,0 +1,207 @@
+/*
+    pybind11/embed.h: Support for embedding the interpreter
+
+    Copyright (c) 2017 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+#include "eval.h"
+
+#if defined(PYPY_VERSION)
+#  error Embedding the interpreter is not supported with PyPy
+#endif
+
+#if PY_MAJOR_VERSION >= 3
+#  define PYBIND11_EMBEDDED_MODULE_IMPL(name)            \
+      extern "C" PyObject *pybind11_init_impl_##name();  \
+      extern "C" PyObject *pybind11_init_impl_##name() { \
+          return pybind11_init_wrapper_##name();         \
+      }
+#else
+#  define PYBIND11_EMBEDDED_MODULE_IMPL(name)            \
+      extern "C" void pybind11_init_impl_##name();       \
+      extern "C" void pybind11_init_impl_##name() {      \
+          pybind11_init_wrapper_##name();                \
+      }
+#endif
+
+/** \rst
+    Add a new module to the table of builtins for the interpreter. Must be
+    defined in global scope. The first macro parameter is the name of the
+    module (without quotes). The second parameter is the variable which will
+    be used as the interface to add functions and classes to the module.
+
+    .. code-block:: cpp
+
+        PYBIND11_EMBEDDED_MODULE(example, m) {
+            // ... initialize functions and classes here
+            m.def("foo", []() {
+                return "Hello, World!";
+            });
+        }
+ \endrst */
+#define PYBIND11_EMBEDDED_MODULE(name, variable)                                \
+    static ::pybind11::module_::module_def                                      \
+        PYBIND11_CONCAT(pybind11_module_def_, name);                            \
+    static void PYBIND11_CONCAT(pybind11_init_, name)(::pybind11::module_ &);   \
+    static PyObject PYBIND11_CONCAT(*pybind11_init_wrapper_, name)() {          \
+        auto m = ::pybind11::module_::create_extension_module(                  \
+            PYBIND11_TOSTRING(name), nullptr,                                   \
+            &PYBIND11_CONCAT(pybind11_module_def_, name));                      \
+        try {                                                                   \
+            PYBIND11_CONCAT(pybind11_init_, name)(m);                           \
+            return m.ptr();                                                     \
+        } catch (::pybind11::error_already_set &e) {                            \
+            PyErr_SetString(PyExc_ImportError, e.what());                       \
+            return nullptr;                                                     \
+        } catch (const std::exception &e) {                                     \
+            PyErr_SetString(PyExc_ImportError, e.what());                       \
+            return nullptr;                                                     \
+        }                                                                       \
+    }                                                                           \
+    PYBIND11_EMBEDDED_MODULE_IMPL(name)                                         \
+    ::pybind11::detail::embedded_module PYBIND11_CONCAT(pybind11_module_, name) \
+                              (PYBIND11_TOSTRING(name),                         \
+                               PYBIND11_CONCAT(pybind11_init_impl_, name));     \
+    void PYBIND11_CONCAT(pybind11_init_, name)(::pybind11::module_ &variable)
+
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+/// Python 2.7/3.x compatible version of `PyImport_AppendInittab` and error checks.
+struct embedded_module {
+#if PY_MAJOR_VERSION >= 3
+    using init_t = PyObject *(*)();
+#else
+    using init_t = void (*)();
+#endif
+    embedded_module(const char *name, init_t init) {
+        if (Py_IsInitialized())
+            pybind11_fail("Can't add new modules after the interpreter has been initialized");
+
+        auto result = PyImport_AppendInittab(name, init);
+        if (result == -1)
+            pybind11_fail("Insufficient memory to add a new module");
+    }
+};
+
+PYBIND11_NAMESPACE_END(detail)
+
+/** \rst
+    Initialize the Python interpreter. No other pybind11 or CPython API functions can be
+    called before this is done; with the exception of `PYBIND11_EMBEDDED_MODULE`. The
+    optional parameter can be used to skip the registration of signal handlers (see the
+    `Python documentation`_ for details). Calling this function again after the interpreter
+    has already been initialized is a fatal error.
+
+    If initializing the Python interpreter fails, then the program is terminated.  (This
+    is controlled by the CPython runtime and is an exception to pybind11's normal behavior
+    of throwing exceptions on errors.)
+
+    .. _Python documentation: https://docs.python.org/3/c-api/init.html#c.Py_InitializeEx
+ \endrst */
+inline void initialize_interpreter(bool init_signal_handlers = true) {
+    if (Py_IsInitialized())
+        pybind11_fail("The interpreter is already running");
+
+    Py_InitializeEx(init_signal_handlers ? 1 : 0);
+
+    // Make .py files in the working directory available by default
+    module_::import("sys").attr("path").cast<list>().append(".");
+}
+
+/** \rst
+    Shut down the Python interpreter. No pybind11 or CPython API functions can be called
+    after this. In addition, pybind11 objects must not outlive the interpreter:
+
+    .. code-block:: cpp
+
+        { // BAD
+            py::initialize_interpreter();
+            auto hello = py::str("Hello, World!");
+            py::finalize_interpreter();
+        } // <-- BOOM, hello's destructor is called after interpreter shutdown
+
+        { // GOOD
+            py::initialize_interpreter();
+            { // scoped
+                auto hello = py::str("Hello, World!");
+            } // <-- OK, hello is cleaned up properly
+            py::finalize_interpreter();
+        }
+
+        { // BETTER
+            py::scoped_interpreter guard{};
+            auto hello = py::str("Hello, World!");
+        }
+
+    .. warning::
+
+        The interpreter can be restarted by calling `initialize_interpreter` again.
+        Modules created using pybind11 can be safely re-initialized. However, Python
+        itself cannot completely unload binary extension modules and there are several
+        caveats with regard to interpreter restarting. All the details can be found
+        in the CPython documentation. In short, not all interpreter memory may be
+        freed, either due to reference cycles or user-created global data.
+
+ \endrst */
+inline void finalize_interpreter() {
+    handle builtins(PyEval_GetBuiltins());
+    const char *id = PYBIND11_INTERNALS_ID;
+
+    // Get the internals pointer (without creating it if it doesn't exist).  It's possible for the
+    // internals to be created during Py_Finalize() (e.g. if a py::capsule calls `get_internals()`
+    // during destruction), so we get the pointer-pointer here and check it after Py_Finalize().
+    detail::internals **internals_ptr_ptr = detail::get_internals_pp();
+    // It could also be stashed in builtins, so look there too:
+    if (builtins.contains(id) && isinstance<capsule>(builtins[id]))
+        internals_ptr_ptr = capsule(builtins[id]);
+
+    Py_Finalize();
+
+    if (internals_ptr_ptr) {
+        delete *internals_ptr_ptr;
+        *internals_ptr_ptr = nullptr;
+    }
+}
+
+/** \rst
+    Scope guard version of `initialize_interpreter` and `finalize_interpreter`.
+    This a move-only guard and only a single instance can exist.
+
+    .. code-block:: cpp
+
+        #include <pybind11/embed.h>
+
+        int main() {
+            py::scoped_interpreter guard{};
+            py::print(Hello, World!);
+        } // <-- interpreter shutdown
+ \endrst */
+class scoped_interpreter {
+public:
+    scoped_interpreter(bool init_signal_handlers = true) {
+        initialize_interpreter(init_signal_handlers);
+    }
+
+    scoped_interpreter(const scoped_interpreter &) = delete;
+    scoped_interpreter(scoped_interpreter &&other) noexcept { other.is_valid = false; }
+    scoped_interpreter &operator=(const scoped_interpreter &) = delete;
+    scoped_interpreter &operator=(scoped_interpreter &&) = delete;
+
+    ~scoped_interpreter() {
+        if (is_valid)
+            finalize_interpreter();
+    }
+
+private:
+    bool is_valid = true;
+};
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eval.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eval.h
new file mode 100644
index 0000000..05d7bb6
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/eval.h
@@ -0,0 +1,132 @@
+/*
+    pybind11/exec.h: Support for evaluating Python expressions and statements
+    from strings and files
+
+    Copyright (c) 2016 Klemens Morgenstern <klemens.morgenstern@ed-chemnitz.de> and
+                       Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+enum eval_mode {
+    /// Evaluate a string containing an isolated expression
+    eval_expr,
+
+    /// Evaluate a string containing a single statement. Returns \c none
+    eval_single_statement,
+
+    /// Evaluate a string containing a sequence of statement. Returns \c none
+    eval_statements
+};
+
+template <eval_mode mode = eval_expr>
+object eval(str expr, object global = globals(), object local = object()) {
+    if (!local)
+        local = global;
+
+    /* PyRun_String does not accept a PyObject / encoding specifier,
+       this seems to be the only alternative */
+    std::string buffer = "# -*- coding: utf-8 -*-\n" + (std::string) expr;
+
+    int start;
+    switch (mode) {
+        case eval_expr:             start = Py_eval_input;   break;
+        case eval_single_statement: start = Py_single_input; break;
+        case eval_statements:       start = Py_file_input;   break;
+        default: pybind11_fail("invalid evaluation mode");
+    }
+
+    PyObject *result = PyRun_String(buffer.c_str(), start, global.ptr(), local.ptr());
+    if (!result)
+        throw error_already_set();
+    return reinterpret_steal<object>(result);
+}
+
+template <eval_mode mode = eval_expr, size_t N>
+object eval(const char (&s)[N], object global = globals(), object local = object()) {
+    /* Support raw string literals by removing common leading whitespace */
+    auto expr = (s[0] == '\n') ? str(module_::import("textwrap").attr("dedent")(s))
+                               : str(s);
+    return eval<mode>(expr, global, local);
+}
+
+inline void exec(str expr, object global = globals(), object local = object()) {
+    eval<eval_statements>(expr, global, local);
+}
+
+template <size_t N>
+void exec(const char (&s)[N], object global = globals(), object local = object()) {
+    eval<eval_statements>(s, global, local);
+}
+
+#if defined(PYPY_VERSION) && PY_VERSION_HEX >= 0x03000000
+template <eval_mode mode = eval_statements>
+object eval_file(str, object, object) {
+    pybind11_fail("eval_file not supported in PyPy3. Use eval");
+}
+template <eval_mode mode = eval_statements>
+object eval_file(str, object) {
+    pybind11_fail("eval_file not supported in PyPy3. Use eval");
+}
+template <eval_mode mode = eval_statements>
+object eval_file(str) {
+    pybind11_fail("eval_file not supported in PyPy3. Use eval");
+}
+#else
+template <eval_mode mode = eval_statements>
+object eval_file(str fname, object global = globals(), object local = object()) {
+    if (!local)
+        local = global;
+
+    int start;
+    switch (mode) {
+        case eval_expr:             start = Py_eval_input;   break;
+        case eval_single_statement: start = Py_single_input; break;
+        case eval_statements:       start = Py_file_input;   break;
+        default: pybind11_fail("invalid evaluation mode");
+    }
+
+    int closeFile = 1;
+    std::string fname_str = (std::string) fname;
+#if PY_VERSION_HEX >= 0x03040000
+    FILE *f = _Py_fopen_obj(fname.ptr(), "r");
+#elif PY_VERSION_HEX >= 0x03000000
+    FILE *f = _Py_fopen(fname.ptr(), "r");
+#else
+    /* No unicode support in open() :( */
+    auto fobj = reinterpret_steal<object>(PyFile_FromString(
+        const_cast<char *>(fname_str.c_str()),
+        const_cast<char*>("r")));
+    FILE *f = nullptr;
+    if (fobj)
+        f = PyFile_AsFile(fobj.ptr());
+    closeFile = 0;
+#endif
+    if (!f) {
+        PyErr_Clear();
+        pybind11_fail("File \"" + fname_str + "\" could not be opened!");
+    }
+
+#if PY_VERSION_HEX < 0x03000000 && defined(PYPY_VERSION)
+    PyObject *result = PyRun_File(f, fname_str.c_str(), start, global.ptr(),
+                                  local.ptr());
+    (void) closeFile;
+#else
+    PyObject *result = PyRun_FileEx(f, fname_str.c_str(), start, global.ptr(),
+                                    local.ptr(), closeFile);
+#endif
+
+    if (!result)
+        throw error_already_set();
+    return reinterpret_steal<object>(result);
+}
+#endif
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/functional.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/functional.h
new file mode 100644
index 0000000..92c17dc
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/functional.h
@@ -0,0 +1,104 @@
+/*
+    pybind11/functional.h: std::function<> support
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+#include <functional>
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+template <typename Return, typename... Args>
+struct type_caster<std::function<Return(Args...)>> {
+    using type = std::function<Return(Args...)>;
+    using retval_type = conditional_t<std::is_same<Return, void>::value, void_type, Return>;
+    using function_type = Return (*) (Args...);
+
+public:
+    bool load(handle src, bool convert) {
+        if (src.is_none()) {
+            // Defer accepting None to other overloads (if we aren't in convert mode):
+            if (!convert) return false;
+            return true;
+        }
+
+        if (!isinstance<function>(src))
+            return false;
+
+        auto func = reinterpret_borrow<function>(src);
+
+        /*
+           When passing a C++ function as an argument to another C++
+           function via Python, every function call would normally involve
+           a full C++ -> Python -> C++ roundtrip, which can be prohibitive.
+           Here, we try to at least detect the case where the function is
+           stateless (i.e. function pointer or lambda function without
+           captured variables), in which case the roundtrip can be avoided.
+         */
+        if (auto cfunc = func.cpp_function()) {
+            auto c = reinterpret_borrow<capsule>(PyCFunction_GET_SELF(cfunc.ptr()));
+            auto rec = (function_record *) c;
+
+            if (rec && rec->is_stateless &&
+                    same_type(typeid(function_type), *reinterpret_cast<const std::type_info *>(rec->data[1]))) {
+                struct capture { function_type f; };
+                value = ((capture *) &rec->data)->f;
+                return true;
+            }
+        }
+
+        // ensure GIL is held during functor destruction
+        struct func_handle {
+            function f;
+            func_handle(function&& f_) : f(std::move(f_)) {}
+            func_handle(const func_handle& f_) {
+                gil_scoped_acquire acq;
+                f = f_.f;
+            }
+            ~func_handle() {
+                gil_scoped_acquire acq;
+                function kill_f(std::move(f));
+            }
+        };
+
+        // to emulate 'move initialization capture' in C++11
+        struct func_wrapper {
+            func_handle hfunc;
+            func_wrapper(func_handle&& hf): hfunc(std::move(hf)) {}
+            Return operator()(Args... args) const {
+                gil_scoped_acquire acq;
+                object retval(hfunc.f(std::forward<Args>(args)...));
+                /* Visual studio 2015 parser issue: need parentheses around this expression */
+                return (retval.template cast<Return>());
+            }
+        };
+
+        value = func_wrapper(func_handle(std::move(func)));
+        return true;
+    }
+
+    template <typename Func>
+    static handle cast(Func &&f_, return_value_policy policy, handle /* parent */) {
+        if (!f_)
+            return none().inc_ref();
+
+        auto result = f_.template target<function_type>();
+        if (result)
+            return cpp_function(*result, policy).release();
+        else
+            return cpp_function(std::forward<Func>(f_), policy).release();
+    }
+
+    PYBIND11_TYPE_CASTER(type, _("Callable[[") + concat(make_caster<Args>::name...) + _("], ")
+                               + make_caster<retval_type>::name + _("]"));
+};
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/iostream.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/iostream.h
new file mode 100644
index 0000000..5e9a814
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/iostream.h
@@ -0,0 +1,216 @@
+/*
+    pybind11/iostream.h -- Tools to assist with redirecting cout and cerr to Python
+
+    Copyright (c) 2017 Henry F. Schreiner
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+
+#include <streambuf>
+#include <ostream>
+#include <string>
+#include <memory>
+#include <iostream>
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+// Buffer that writes to Python instead of C++
+class pythonbuf : public std::streambuf {
+private:
+    using traits_type = std::streambuf::traits_type;
+
+    const size_t buf_size;
+    std::unique_ptr<char[]> d_buffer;
+    object pywrite;
+    object pyflush;
+
+    int overflow(int c) override {
+        if (!traits_type::eq_int_type(c, traits_type::eof())) {
+            *pptr() = traits_type::to_char_type(c);
+            pbump(1);
+        }
+        return sync() == 0 ? traits_type::not_eof(c) : traits_type::eof();
+    }
+
+    // This function must be non-virtual to be called in a destructor. If the
+    // rare MSVC test failure shows up with this version, then this should be
+    // simplified to a fully qualified call.
+    int _sync() {
+        if (pbase() != pptr()) {
+            // This subtraction cannot be negative, so dropping the sign
+            str line(pbase(), static_cast<size_t>(pptr() - pbase()));
+
+            {
+                gil_scoped_acquire tmp;
+                pywrite(line);
+                pyflush();
+            }
+
+            setp(pbase(), epptr());
+        }
+        return 0;
+    }
+
+    int sync() override {
+        return _sync();
+    }
+
+public:
+
+    pythonbuf(object pyostream, size_t buffer_size = 1024)
+        : buf_size(buffer_size),
+          d_buffer(new char[buf_size]),
+          pywrite(pyostream.attr("write")),
+          pyflush(pyostream.attr("flush")) {
+        setp(d_buffer.get(), d_buffer.get() + buf_size - 1);
+    }
+
+    pythonbuf(pythonbuf&&) = default;
+
+    /// Sync before destroy
+    ~pythonbuf() override {
+        _sync();
+    }
+};
+
+PYBIND11_NAMESPACE_END(detail)
+
+
+/** \rst
+    This a move-only guard that redirects output.
+
+    .. code-block:: cpp
+
+        #include <pybind11/iostream.h>
+
+        ...
+
+        {
+            py::scoped_ostream_redirect output;
+            std::cout << "Hello, World!"; // Python stdout
+        } // <-- return std::cout to normal
+
+    You can explicitly pass the c++ stream and the python object,
+    for example to guard stderr instead.
+
+    .. code-block:: cpp
+
+        {
+            py::scoped_ostream_redirect output{std::cerr, py::module_::import("sys").attr("stderr")};
+            std::cerr << "Hello, World!";
+        }
+ \endrst */
+class scoped_ostream_redirect {
+protected:
+    std::streambuf *old;
+    std::ostream &costream;
+    detail::pythonbuf buffer;
+
+public:
+    scoped_ostream_redirect(
+            std::ostream &costream = std::cout,
+            object pyostream = module_::import("sys").attr("stdout"))
+        : costream(costream), buffer(pyostream) {
+        old = costream.rdbuf(&buffer);
+    }
+
+    ~scoped_ostream_redirect() {
+        costream.rdbuf(old);
+    }
+
+    scoped_ostream_redirect(const scoped_ostream_redirect &) = delete;
+    scoped_ostream_redirect(scoped_ostream_redirect &&other) = default;
+    scoped_ostream_redirect &operator=(const scoped_ostream_redirect &) = delete;
+    scoped_ostream_redirect &operator=(scoped_ostream_redirect &&) = delete;
+};
+
+
+/** \rst
+    Like `scoped_ostream_redirect`, but redirects cerr by default. This class
+    is provided primary to make ``py::call_guard`` easier to make.
+
+    .. code-block:: cpp
+
+     m.def("noisy_func", &noisy_func,
+           py::call_guard<scoped_ostream_redirect,
+                          scoped_estream_redirect>());
+
+\endrst */
+class scoped_estream_redirect : public scoped_ostream_redirect {
+public:
+    scoped_estream_redirect(
+            std::ostream &costream = std::cerr,
+            object pyostream = module_::import("sys").attr("stderr"))
+        : scoped_ostream_redirect(costream,pyostream) {}
+};
+
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+// Class to redirect output as a context manager. C++ backend.
+class OstreamRedirect {
+    bool do_stdout_;
+    bool do_stderr_;
+    std::unique_ptr<scoped_ostream_redirect> redirect_stdout;
+    std::unique_ptr<scoped_estream_redirect> redirect_stderr;
+
+public:
+    OstreamRedirect(bool do_stdout = true, bool do_stderr = true)
+        : do_stdout_(do_stdout), do_stderr_(do_stderr) {}
+
+    void enter() {
+        if (do_stdout_)
+            redirect_stdout.reset(new scoped_ostream_redirect());
+        if (do_stderr_)
+            redirect_stderr.reset(new scoped_estream_redirect());
+    }
+
+    void exit() {
+        redirect_stdout.reset();
+        redirect_stderr.reset();
+    }
+};
+
+PYBIND11_NAMESPACE_END(detail)
+
+/** \rst
+    This is a helper function to add a C++ redirect context manager to Python
+    instead of using a C++ guard. To use it, add the following to your binding code:
+
+    .. code-block:: cpp
+
+        #include <pybind11/iostream.h>
+
+        ...
+
+        py::add_ostream_redirect(m, "ostream_redirect");
+
+    You now have a Python context manager that redirects your output:
+
+    .. code-block:: python
+
+        with m.ostream_redirect():
+            m.print_to_cout_function()
+
+    This manager can optionally be told which streams to operate on:
+
+    .. code-block:: python
+
+        with m.ostream_redirect(stdout=true, stderr=true):
+            m.noisy_function_with_error_printing()
+
+ \endrst */
+inline class_<detail::OstreamRedirect> add_ostream_redirect(module_ m, std::string name = "ostream_redirect") {
+    return class_<detail::OstreamRedirect>(m, name.c_str(), module_local())
+        .def(init<bool,bool>(), arg("stdout")=true, arg("stderr")=true)
+        .def("__enter__", &detail::OstreamRedirect::enter)
+        .def("__exit__", [](detail::OstreamRedirect &self_, args) { self_.exit(); });
+}
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/numpy.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/numpy.h
new file mode 100644
index 0000000..75ec96f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/numpy.h
@@ -0,0 +1,1679 @@
+/*
+    pybind11/numpy.h: Basic NumPy support, vectorize() wrapper
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+#include "complex.h"
+#include <numeric>
+#include <algorithm>
+#include <array>
+#include <cstdint>
+#include <cstdlib>
+#include <cstring>
+#include <sstream>
+#include <string>
+#include <functional>
+#include <utility>
+#include <vector>
+#include <typeindex>
+
+#if defined(_MSC_VER)
+#  pragma warning(push)
+#  pragma warning(disable: 4127) // warning C4127: Conditional expression is constant
+#endif
+
+/* This will be true on all flat address space platforms and allows us to reduce the
+   whole npy_intp / ssize_t / Py_intptr_t business down to just ssize_t for all size
+   and dimension types (e.g. shape, strides, indexing), instead of inflicting this
+   upon the library user. */
+static_assert(sizeof(ssize_t) == sizeof(Py_intptr_t), "ssize_t != Py_intptr_t");
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+class array; // Forward declaration
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+template <> struct handle_type_name<array> { static constexpr auto name = _("numpy.ndarray"); };
+
+template <typename type, typename SFINAE = void> struct npy_format_descriptor;
+
+struct PyArrayDescr_Proxy {
+    PyObject_HEAD
+    PyObject *typeobj;
+    char kind;
+    char type;
+    char byteorder;
+    char flags;
+    int type_num;
+    int elsize;
+    int alignment;
+    char *subarray;
+    PyObject *fields;
+    PyObject *names;
+};
+
+struct PyArray_Proxy {
+    PyObject_HEAD
+    char *data;
+    int nd;
+    ssize_t *dimensions;
+    ssize_t *strides;
+    PyObject *base;
+    PyObject *descr;
+    int flags;
+};
+
+struct PyVoidScalarObject_Proxy {
+    PyObject_VAR_HEAD
+    char *obval;
+    PyArrayDescr_Proxy *descr;
+    int flags;
+    PyObject *base;
+};
+
+struct numpy_type_info {
+    PyObject* dtype_ptr;
+    std::string format_str;
+};
+
+struct numpy_internals {
+    std::unordered_map<std::type_index, numpy_type_info> registered_dtypes;
+
+    numpy_type_info *get_type_info(const std::type_info& tinfo, bool throw_if_missing = true) {
+        auto it = registered_dtypes.find(std::type_index(tinfo));
+        if (it != registered_dtypes.end())
+            return &(it->second);
+        if (throw_if_missing)
+            pybind11_fail(std::string("NumPy type info missing for ") + tinfo.name());
+        return nullptr;
+    }
+
+    template<typename T> numpy_type_info *get_type_info(bool throw_if_missing = true) {
+        return get_type_info(typeid(typename std::remove_cv<T>::type), throw_if_missing);
+    }
+};
+
+inline PYBIND11_NOINLINE void load_numpy_internals(numpy_internals* &ptr) {
+    ptr = &get_or_create_shared_data<numpy_internals>("_numpy_internals");
+}
+
+inline numpy_internals& get_numpy_internals() {
+    static numpy_internals* ptr = nullptr;
+    if (!ptr)
+        load_numpy_internals(ptr);
+    return *ptr;
+}
+
+template <typename T> struct same_size {
+    template <typename U> using as = bool_constant<sizeof(T) == sizeof(U)>;
+};
+
+template <typename Concrete> constexpr int platform_lookup() { return -1; }
+
+// Lookup a type according to its size, and return a value corresponding to the NumPy typenum.
+template <typename Concrete, typename T, typename... Ts, typename... Ints>
+constexpr int platform_lookup(int I, Ints... Is) {
+    return sizeof(Concrete) == sizeof(T) ? I : platform_lookup<Concrete, Ts...>(Is...);
+}
+
+struct npy_api {
+    enum constants {
+        NPY_ARRAY_C_CONTIGUOUS_ = 0x0001,
+        NPY_ARRAY_F_CONTIGUOUS_ = 0x0002,
+        NPY_ARRAY_OWNDATA_ = 0x0004,
+        NPY_ARRAY_FORCECAST_ = 0x0010,
+        NPY_ARRAY_ENSUREARRAY_ = 0x0040,
+        NPY_ARRAY_ALIGNED_ = 0x0100,
+        NPY_ARRAY_WRITEABLE_ = 0x0400,
+        NPY_BOOL_ = 0,
+        NPY_BYTE_, NPY_UBYTE_,
+        NPY_SHORT_, NPY_USHORT_,
+        NPY_INT_, NPY_UINT_,
+        NPY_LONG_, NPY_ULONG_,
+        NPY_LONGLONG_, NPY_ULONGLONG_,
+        NPY_FLOAT_, NPY_DOUBLE_, NPY_LONGDOUBLE_,
+        NPY_CFLOAT_, NPY_CDOUBLE_, NPY_CLONGDOUBLE_,
+        NPY_OBJECT_ = 17,
+        NPY_STRING_, NPY_UNICODE_, NPY_VOID_,
+        // Platform-dependent normalization
+        NPY_INT8_ = NPY_BYTE_,
+        NPY_UINT8_ = NPY_UBYTE_,
+        NPY_INT16_ = NPY_SHORT_,
+        NPY_UINT16_ = NPY_USHORT_,
+        // `npy_common.h` defines the integer aliases. In order, it checks:
+        // NPY_BITSOF_LONG, NPY_BITSOF_LONGLONG, NPY_BITSOF_INT, NPY_BITSOF_SHORT, NPY_BITSOF_CHAR
+        // and assigns the alias to the first matching size, so we should check in this order.
+        NPY_INT32_ = platform_lookup<std::int32_t, long, int, short>(
+            NPY_LONG_, NPY_INT_, NPY_SHORT_),
+        NPY_UINT32_ = platform_lookup<std::uint32_t, unsigned long, unsigned int, unsigned short>(
+            NPY_ULONG_, NPY_UINT_, NPY_USHORT_),
+        NPY_INT64_ = platform_lookup<std::int64_t, long, long long, int>(
+            NPY_LONG_, NPY_LONGLONG_, NPY_INT_),
+        NPY_UINT64_ = platform_lookup<std::uint64_t, unsigned long, unsigned long long, unsigned int>(
+            NPY_ULONG_, NPY_ULONGLONG_, NPY_UINT_),
+    };
+
+    typedef struct {
+        Py_intptr_t *ptr;
+        int len;
+    } PyArray_Dims;
+
+    static npy_api& get() {
+        static npy_api api = lookup();
+        return api;
+    }
+
+    bool PyArray_Check_(PyObject *obj) const {
+        return (bool) PyObject_TypeCheck(obj, PyArray_Type_);
+    }
+    bool PyArrayDescr_Check_(PyObject *obj) const {
+        return (bool) PyObject_TypeCheck(obj, PyArrayDescr_Type_);
+    }
+
+    unsigned int (*PyArray_GetNDArrayCFeatureVersion_)();
+    PyObject *(*PyArray_DescrFromType_)(int);
+    PyObject *(*PyArray_NewFromDescr_)
+        (PyTypeObject *, PyObject *, int, Py_intptr_t const *,
+         Py_intptr_t const *, void *, int, PyObject *);
+    // Unused. Not removed because that affects ABI of the class.
+    PyObject *(*PyArray_DescrNewFromType_)(int);
+    int (*PyArray_CopyInto_)(PyObject *, PyObject *);
+    PyObject *(*PyArray_NewCopy_)(PyObject *, int);
+    PyTypeObject *PyArray_Type_;
+    PyTypeObject *PyVoidArrType_Type_;
+    PyTypeObject *PyArrayDescr_Type_;
+    PyObject *(*PyArray_DescrFromScalar_)(PyObject *);
+    PyObject *(*PyArray_FromAny_) (PyObject *, PyObject *, int, int, int, PyObject *);
+    int (*PyArray_DescrConverter_) (PyObject *, PyObject **);
+    bool (*PyArray_EquivTypes_) (PyObject *, PyObject *);
+    int (*PyArray_GetArrayParamsFromObject_)(PyObject *, PyObject *, unsigned char, PyObject **, int *,
+                                             Py_intptr_t *, PyObject **, PyObject *);
+    PyObject *(*PyArray_Squeeze_)(PyObject *);
+    // Unused. Not removed because that affects ABI of the class.
+    int (*PyArray_SetBaseObject_)(PyObject *, PyObject *);
+    PyObject* (*PyArray_Resize_)(PyObject*, PyArray_Dims*, int, int);
+private:
+    enum functions {
+        API_PyArray_GetNDArrayCFeatureVersion = 211,
+        API_PyArray_Type = 2,
+        API_PyArrayDescr_Type = 3,
+        API_PyVoidArrType_Type = 39,
+        API_PyArray_DescrFromType = 45,
+        API_PyArray_DescrFromScalar = 57,
+        API_PyArray_FromAny = 69,
+        API_PyArray_Resize = 80,
+        API_PyArray_CopyInto = 82,
+        API_PyArray_NewCopy = 85,
+        API_PyArray_NewFromDescr = 94,
+        API_PyArray_DescrNewFromType = 96,
+        API_PyArray_DescrConverter = 174,
+        API_PyArray_EquivTypes = 182,
+        API_PyArray_GetArrayParamsFromObject = 278,
+        API_PyArray_Squeeze = 136,
+        API_PyArray_SetBaseObject = 282
+    };
+
+    static npy_api lookup() {
+        module_ m = module_::import("numpy.core.multiarray");
+        auto c = m.attr("_ARRAY_API");
+#if PY_MAJOR_VERSION >= 3
+        void **api_ptr = (void **) PyCapsule_GetPointer(c.ptr(), NULL);
+#else
+        void **api_ptr = (void **) PyCObject_AsVoidPtr(c.ptr());
+#endif
+        npy_api api;
+#define DECL_NPY_API(Func) api.Func##_ = (decltype(api.Func##_)) api_ptr[API_##Func];
+        DECL_NPY_API(PyArray_GetNDArrayCFeatureVersion);
+        if (api.PyArray_GetNDArrayCFeatureVersion_() < 0x7)
+            pybind11_fail("pybind11 numpy support requires numpy >= 1.7.0");
+        DECL_NPY_API(PyArray_Type);
+        DECL_NPY_API(PyVoidArrType_Type);
+        DECL_NPY_API(PyArrayDescr_Type);
+        DECL_NPY_API(PyArray_DescrFromType);
+        DECL_NPY_API(PyArray_DescrFromScalar);
+        DECL_NPY_API(PyArray_FromAny);
+        DECL_NPY_API(PyArray_Resize);
+        DECL_NPY_API(PyArray_CopyInto);
+        DECL_NPY_API(PyArray_NewCopy);
+        DECL_NPY_API(PyArray_NewFromDescr);
+        DECL_NPY_API(PyArray_DescrNewFromType);
+        DECL_NPY_API(PyArray_DescrConverter);
+        DECL_NPY_API(PyArray_EquivTypes);
+        DECL_NPY_API(PyArray_GetArrayParamsFromObject);
+        DECL_NPY_API(PyArray_Squeeze);
+        DECL_NPY_API(PyArray_SetBaseObject);
+#undef DECL_NPY_API
+        return api;
+    }
+};
+
+inline PyArray_Proxy* array_proxy(void* ptr) {
+    return reinterpret_cast<PyArray_Proxy*>(ptr);
+}
+
+inline const PyArray_Proxy* array_proxy(const void* ptr) {
+    return reinterpret_cast<const PyArray_Proxy*>(ptr);
+}
+
+inline PyArrayDescr_Proxy* array_descriptor_proxy(PyObject* ptr) {
+   return reinterpret_cast<PyArrayDescr_Proxy*>(ptr);
+}
+
+inline const PyArrayDescr_Proxy* array_descriptor_proxy(const PyObject* ptr) {
+   return reinterpret_cast<const PyArrayDescr_Proxy*>(ptr);
+}
+
+inline bool check_flags(const void* ptr, int flag) {
+    return (flag == (array_proxy(ptr)->flags & flag));
+}
+
+template <typename T> struct is_std_array : std::false_type { };
+template <typename T, size_t N> struct is_std_array<std::array<T, N>> : std::true_type { };
+template <typename T> struct is_complex : std::false_type { };
+template <typename T> struct is_complex<std::complex<T>> : std::true_type { };
+
+template <typename T> struct array_info_scalar {
+    using type = T;
+    static constexpr bool is_array = false;
+    static constexpr bool is_empty = false;
+    static constexpr auto extents = _("");
+    static void append_extents(list& /* shape */) { }
+};
+// Computes underlying type and a comma-separated list of extents for array
+// types (any mix of std::array and built-in arrays). An array of char is
+// treated as scalar because it gets special handling.
+template <typename T> struct array_info : array_info_scalar<T> { };
+template <typename T, size_t N> struct array_info<std::array<T, N>> {
+    using type = typename array_info<T>::type;
+    static constexpr bool is_array = true;
+    static constexpr bool is_empty = (N == 0) || array_info<T>::is_empty;
+    static constexpr size_t extent = N;
+
+    // appends the extents to shape
+    static void append_extents(list& shape) {
+        shape.append(N);
+        array_info<T>::append_extents(shape);
+    }
+
+    static constexpr auto extents = _<array_info<T>::is_array>(
+        concat(_<N>(), array_info<T>::extents), _<N>()
+    );
+};
+// For numpy we have special handling for arrays of characters, so we don't include
+// the size in the array extents.
+template <size_t N> struct array_info<char[N]> : array_info_scalar<char[N]> { };
+template <size_t N> struct array_info<std::array<char, N>> : array_info_scalar<std::array<char, N>> { };
+template <typename T, size_t N> struct array_info<T[N]> : array_info<std::array<T, N>> { };
+template <typename T> using remove_all_extents_t = typename array_info<T>::type;
+
+template <typename T> using is_pod_struct = all_of<
+    std::is_standard_layout<T>,     // since we're accessing directly in memory we need a standard layout type
+#if !defined(__GNUG__) || defined(_LIBCPP_VERSION) || defined(_GLIBCXX_USE_CXX11_ABI)
+    // _GLIBCXX_USE_CXX11_ABI indicates that we're using libstdc++ from GCC 5 or newer, independent
+    // of the actual compiler (Clang can also use libstdc++, but it always defines __GNUC__ == 4).
+    std::is_trivially_copyable<T>,
+#else
+    // GCC 4 doesn't implement is_trivially_copyable, so approximate it
+    std::is_trivially_destructible<T>,
+    satisfies_any_of<T, std::has_trivial_copy_constructor, std::has_trivial_copy_assign>,
+#endif
+    satisfies_none_of<T, std::is_reference, std::is_array, is_std_array, std::is_arithmetic, is_complex, std::is_enum>
+>;
+
+template <ssize_t Dim = 0, typename Strides> ssize_t byte_offset_unsafe(const Strides &) { return 0; }
+template <ssize_t Dim = 0, typename Strides, typename... Ix>
+ssize_t byte_offset_unsafe(const Strides &strides, ssize_t i, Ix... index) {
+    return i * strides[Dim] + byte_offset_unsafe<Dim + 1>(strides, index...);
+}
+
+/**
+ * Proxy class providing unsafe, unchecked const access to array data.  This is constructed through
+ * the `unchecked<T, N>()` method of `array` or the `unchecked<N>()` method of `array_t<T>`.  `Dims`
+ * will be -1 for dimensions determined at runtime.
+ */
+template <typename T, ssize_t Dims>
+class unchecked_reference {
+protected:
+    static constexpr bool Dynamic = Dims < 0;
+    const unsigned char *data_;
+    // Storing the shape & strides in local variables (i.e. these arrays) allows the compiler to
+    // make large performance gains on big, nested loops, but requires compile-time dimensions
+    conditional_t<Dynamic, const ssize_t *, std::array<ssize_t, (size_t) Dims>>
+            shape_, strides_;
+    const ssize_t dims_;
+
+    friend class pybind11::array;
+    // Constructor for compile-time dimensions:
+    template <bool Dyn = Dynamic>
+    unchecked_reference(const void *data, const ssize_t *shape, const ssize_t *strides, enable_if_t<!Dyn, ssize_t>)
+    : data_{reinterpret_cast<const unsigned char *>(data)}, dims_{Dims} {
+        for (size_t i = 0; i < (size_t) dims_; i++) {
+            shape_[i] = shape[i];
+            strides_[i] = strides[i];
+        }
+    }
+    // Constructor for runtime dimensions:
+    template <bool Dyn = Dynamic>
+    unchecked_reference(const void *data, const ssize_t *shape, const ssize_t *strides, enable_if_t<Dyn, ssize_t> dims)
+    : data_{reinterpret_cast<const unsigned char *>(data)}, shape_{shape}, strides_{strides}, dims_{dims} {}
+
+public:
+    /**
+     * Unchecked const reference access to data at the given indices.  For a compile-time known
+     * number of dimensions, this requires the correct number of arguments; for run-time
+     * dimensionality, this is not checked (and so is up to the caller to use safely).
+     */
+    template <typename... Ix> const T &operator()(Ix... index) const {
+        static_assert(ssize_t{sizeof...(Ix)} == Dims || Dynamic,
+                "Invalid number of indices for unchecked array reference");
+        return *reinterpret_cast<const T *>(data_ + byte_offset_unsafe(strides_, ssize_t(index)...));
+    }
+    /**
+     * Unchecked const reference access to data; this operator only participates if the reference
+     * is to a 1-dimensional array.  When present, this is exactly equivalent to `obj(index)`.
+     */
+    template <ssize_t D = Dims, typename = enable_if_t<D == 1 || Dynamic>>
+    const T &operator[](ssize_t index) const { return operator()(index); }
+
+    /// Pointer access to the data at the given indices.
+    template <typename... Ix> const T *data(Ix... ix) const { return &operator()(ssize_t(ix)...); }
+
+    /// Returns the item size, i.e. sizeof(T)
+    constexpr static ssize_t itemsize() { return sizeof(T); }
+
+    /// Returns the shape (i.e. size) of dimension `dim`
+    ssize_t shape(ssize_t dim) const { return shape_[(size_t) dim]; }
+
+    /// Returns the number of dimensions of the array
+    ssize_t ndim() const { return dims_; }
+
+    /// Returns the total number of elements in the referenced array, i.e. the product of the shapes
+    template <bool Dyn = Dynamic>
+    enable_if_t<!Dyn, ssize_t> size() const {
+        return std::accumulate(shape_.begin(), shape_.end(), (ssize_t) 1, std::multiplies<ssize_t>());
+    }
+    template <bool Dyn = Dynamic>
+    enable_if_t<Dyn, ssize_t> size() const {
+        return std::accumulate(shape_, shape_ + ndim(), (ssize_t) 1, std::multiplies<ssize_t>());
+    }
+
+    /// Returns the total number of bytes used by the referenced data.  Note that the actual span in
+    /// memory may be larger if the referenced array has non-contiguous strides (e.g. for a slice).
+    ssize_t nbytes() const {
+        return size() * itemsize();
+    }
+};
+
+template <typename T, ssize_t Dims>
+class unchecked_mutable_reference : public unchecked_reference<T, Dims> {
+    friend class pybind11::array;
+    using ConstBase = unchecked_reference<T, Dims>;
+    using ConstBase::ConstBase;
+    using ConstBase::Dynamic;
+public:
+    // Bring in const-qualified versions from base class
+    using ConstBase::operator();
+    using ConstBase::operator[];
+
+    /// Mutable, unchecked access to data at the given indices.
+    template <typename... Ix> T& operator()(Ix... index) {
+        static_assert(ssize_t{sizeof...(Ix)} == Dims || Dynamic,
+                "Invalid number of indices for unchecked array reference");
+        return const_cast<T &>(ConstBase::operator()(index...));
+    }
+    /**
+     * Mutable, unchecked access data at the given index; this operator only participates if the
+     * reference is to a 1-dimensional array (or has runtime dimensions).  When present, this is
+     * exactly equivalent to `obj(index)`.
+     */
+    template <ssize_t D = Dims, typename = enable_if_t<D == 1 || Dynamic>>
+    T &operator[](ssize_t index) { return operator()(index); }
+
+    /// Mutable pointer access to the data at the given indices.
+    template <typename... Ix> T *mutable_data(Ix... ix) { return &operator()(ssize_t(ix)...); }
+};
+
+template <typename T, ssize_t Dim>
+struct type_caster<unchecked_reference<T, Dim>> {
+    static_assert(Dim == 0 && Dim > 0 /* always fail */, "unchecked array proxy object is not castable");
+};
+template <typename T, ssize_t Dim>
+struct type_caster<unchecked_mutable_reference<T, Dim>> : type_caster<unchecked_reference<T, Dim>> {};
+
+PYBIND11_NAMESPACE_END(detail)
+
+class dtype : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(dtype, object, detail::npy_api::get().PyArrayDescr_Check_);
+
+    explicit dtype(const buffer_info &info) {
+        dtype descr(_dtype_from_pep3118()(PYBIND11_STR_TYPE(info.format)));
+        // If info.itemsize == 0, use the value calculated from the format string
+        m_ptr = descr.strip_padding(info.itemsize ? info.itemsize : descr.itemsize()).release().ptr();
+    }
+
+    explicit dtype(const std::string &format) {
+        m_ptr = from_args(pybind11::str(format)).release().ptr();
+    }
+
+    dtype(const char *format) : dtype(std::string(format)) { }
+
+    dtype(list names, list formats, list offsets, ssize_t itemsize) {
+        dict args;
+        args["names"] = names;
+        args["formats"] = formats;
+        args["offsets"] = offsets;
+        args["itemsize"] = pybind11::int_(itemsize);
+        m_ptr = from_args(args).release().ptr();
+    }
+
+    /// This is essentially the same as calling numpy.dtype(args) in Python.
+    static dtype from_args(object args) {
+        PyObject *ptr = nullptr;
+        if (!detail::npy_api::get().PyArray_DescrConverter_(args.ptr(), &ptr) || !ptr)
+            throw error_already_set();
+        return reinterpret_steal<dtype>(ptr);
+    }
+
+    /// Return dtype associated with a C++ type.
+    template <typename T> static dtype of() {
+        return detail::npy_format_descriptor<typename std::remove_cv<T>::type>::dtype();
+    }
+
+    /// Size of the data type in bytes.
+    ssize_t itemsize() const {
+        return detail::array_descriptor_proxy(m_ptr)->elsize;
+    }
+
+    /// Returns true for structured data types.
+    bool has_fields() const {
+        return detail::array_descriptor_proxy(m_ptr)->names != nullptr;
+    }
+
+    /// Single-character type code.
+    char kind() const {
+        return detail::array_descriptor_proxy(m_ptr)->kind;
+    }
+
+private:
+    static object _dtype_from_pep3118() {
+        static PyObject *obj = module_::import("numpy.core._internal")
+            .attr("_dtype_from_pep3118").cast<object>().release().ptr();
+        return reinterpret_borrow<object>(obj);
+    }
+
+    dtype strip_padding(ssize_t itemsize) {
+        // Recursively strip all void fields with empty names that are generated for
+        // padding fields (as of NumPy v1.11).
+        if (!has_fields())
+            return *this;
+
+        struct field_descr { PYBIND11_STR_TYPE name; object format; pybind11::int_ offset; };
+        std::vector<field_descr> field_descriptors;
+
+        for (auto field : attr("fields").attr("items")()) {
+            auto spec = field.cast<tuple>();
+            auto name = spec[0].cast<pybind11::str>();
+            auto format = spec[1].cast<tuple>()[0].cast<dtype>();
+            auto offset = spec[1].cast<tuple>()[1].cast<pybind11::int_>();
+            if (!len(name) && format.kind() == 'V')
+                continue;
+            field_descriptors.push_back({(PYBIND11_STR_TYPE) name, format.strip_padding(format.itemsize()), offset});
+        }
+
+        std::sort(field_descriptors.begin(), field_descriptors.end(),
+                  [](const field_descr& a, const field_descr& b) {
+                      return a.offset.cast<int>() < b.offset.cast<int>();
+                  });
+
+        list names, formats, offsets;
+        for (auto& descr : field_descriptors) {
+            names.append(descr.name);
+            formats.append(descr.format);
+            offsets.append(descr.offset);
+        }
+        return dtype(names, formats, offsets, itemsize);
+    }
+};
+
+class array : public buffer {
+public:
+    PYBIND11_OBJECT_CVT(array, buffer, detail::npy_api::get().PyArray_Check_, raw_array)
+
+    enum {
+        c_style = detail::npy_api::NPY_ARRAY_C_CONTIGUOUS_,
+        f_style = detail::npy_api::NPY_ARRAY_F_CONTIGUOUS_,
+        forcecast = detail::npy_api::NPY_ARRAY_FORCECAST_
+    };
+
+    array() : array(0, static_cast<const double *>(nullptr)) {}
+
+    using ShapeContainer = detail::any_container<ssize_t>;
+    using StridesContainer = detail::any_container<ssize_t>;
+
+    // Constructs an array taking shape/strides from arbitrary container types
+    array(const pybind11::dtype &dt, ShapeContainer shape, StridesContainer strides,
+          const void *ptr = nullptr, handle base = handle()) {
+
+        if (strides->empty())
+            *strides = detail::c_strides(*shape, dt.itemsize());
+
+        auto ndim = shape->size();
+        if (ndim != strides->size())
+            pybind11_fail("NumPy: shape ndim doesn't match strides ndim");
+        auto descr = dt;
+
+        int flags = 0;
+        if (base && ptr) {
+            if (isinstance<array>(base))
+                /* Copy flags from base (except ownership bit) */
+                flags = reinterpret_borrow<array>(base).flags() & ~detail::npy_api::NPY_ARRAY_OWNDATA_;
+            else
+                /* Writable by default, easy to downgrade later on if needed */
+                flags = detail::npy_api::NPY_ARRAY_WRITEABLE_;
+        }
+
+        auto &api = detail::npy_api::get();
+        auto tmp = reinterpret_steal<object>(api.PyArray_NewFromDescr_(
+            api.PyArray_Type_, descr.release().ptr(), (int) ndim, shape->data(), strides->data(),
+            const_cast<void *>(ptr), flags, nullptr));
+        if (!tmp)
+            throw error_already_set();
+        if (ptr) {
+            if (base) {
+                api.PyArray_SetBaseObject_(tmp.ptr(), base.inc_ref().ptr());
+            } else {
+                tmp = reinterpret_steal<object>(api.PyArray_NewCopy_(tmp.ptr(), -1 /* any order */));
+            }
+        }
+        m_ptr = tmp.release().ptr();
+    }
+
+    array(const pybind11::dtype &dt, ShapeContainer shape, const void *ptr = nullptr, handle base = handle())
+        : array(dt, std::move(shape), {}, ptr, base) { }
+
+    template <typename T, typename = detail::enable_if_t<std::is_integral<T>::value && !std::is_same<bool, T>::value>>
+    array(const pybind11::dtype &dt, T count, const void *ptr = nullptr, handle base = handle())
+        : array(dt, {{count}}, ptr, base) { }
+
+    template <typename T>
+    array(ShapeContainer shape, StridesContainer strides, const T *ptr, handle base = handle())
+        : array(pybind11::dtype::of<T>(), std::move(shape), std::move(strides), ptr, base) { }
+
+    template <typename T>
+    array(ShapeContainer shape, const T *ptr, handle base = handle())
+        : array(std::move(shape), {}, ptr, base) { }
+
+    template <typename T>
+    explicit array(ssize_t count, const T *ptr, handle base = handle()) : array({count}, {}, ptr, base) { }
+
+    explicit array(const buffer_info &info, handle base = handle())
+    : array(pybind11::dtype(info), info.shape, info.strides, info.ptr, base) { }
+
+    /// Array descriptor (dtype)
+    pybind11::dtype dtype() const {
+        return reinterpret_borrow<pybind11::dtype>(detail::array_proxy(m_ptr)->descr);
+    }
+
+    /// Total number of elements
+    ssize_t size() const {
+        return std::accumulate(shape(), shape() + ndim(), (ssize_t) 1, std::multiplies<ssize_t>());
+    }
+
+    /// Byte size of a single element
+    ssize_t itemsize() const {
+        return detail::array_descriptor_proxy(detail::array_proxy(m_ptr)->descr)->elsize;
+    }
+
+    /// Total number of bytes
+    ssize_t nbytes() const {
+        return size() * itemsize();
+    }
+
+    /// Number of dimensions
+    ssize_t ndim() const {
+        return detail::array_proxy(m_ptr)->nd;
+    }
+
+    /// Base object
+    object base() const {
+        return reinterpret_borrow<object>(detail::array_proxy(m_ptr)->base);
+    }
+
+    /// Dimensions of the array
+    const ssize_t* shape() const {
+        return detail::array_proxy(m_ptr)->dimensions;
+    }
+
+    /// Dimension along a given axis
+    ssize_t shape(ssize_t dim) const {
+        if (dim >= ndim())
+            fail_dim_check(dim, "invalid axis");
+        return shape()[dim];
+    }
+
+    /// Strides of the array
+    const ssize_t* strides() const {
+        return detail::array_proxy(m_ptr)->strides;
+    }
+
+    /// Stride along a given axis
+    ssize_t strides(ssize_t dim) const {
+        if (dim >= ndim())
+            fail_dim_check(dim, "invalid axis");
+        return strides()[dim];
+    }
+
+    /// Return the NumPy array flags
+    int flags() const {
+        return detail::array_proxy(m_ptr)->flags;
+    }
+
+    /// If set, the array is writeable (otherwise the buffer is read-only)
+    bool writeable() const {
+        return detail::check_flags(m_ptr, detail::npy_api::NPY_ARRAY_WRITEABLE_);
+    }
+
+    /// If set, the array owns the data (will be freed when the array is deleted)
+    bool owndata() const {
+        return detail::check_flags(m_ptr, detail::npy_api::NPY_ARRAY_OWNDATA_);
+    }
+
+    /// Pointer to the contained data. If index is not provided, points to the
+    /// beginning of the buffer. May throw if the index would lead to out of bounds access.
+    template<typename... Ix> const void* data(Ix... index) const {
+        return static_cast<const void *>(detail::array_proxy(m_ptr)->data + offset_at(index...));
+    }
+
+    /// Mutable pointer to the contained data. If index is not provided, points to the
+    /// beginning of the buffer. May throw if the index would lead to out of bounds access.
+    /// May throw if the array is not writeable.
+    template<typename... Ix> void* mutable_data(Ix... index) {
+        check_writeable();
+        return static_cast<void *>(detail::array_proxy(m_ptr)->data + offset_at(index...));
+    }
+
+    /// Byte offset from beginning of the array to a given index (full or partial).
+    /// May throw if the index would lead to out of bounds access.
+    template<typename... Ix> ssize_t offset_at(Ix... index) const {
+        if ((ssize_t) sizeof...(index) > ndim())
+            fail_dim_check(sizeof...(index), "too many indices for an array");
+        return byte_offset(ssize_t(index)...);
+    }
+
+    ssize_t offset_at() const { return 0; }
+
+    /// Item count from beginning of the array to a given index (full or partial).
+    /// May throw if the index would lead to out of bounds access.
+    template<typename... Ix> ssize_t index_at(Ix... index) const {
+        return offset_at(index...) / itemsize();
+    }
+
+    /**
+     * Returns a proxy object that provides access to the array's data without bounds or
+     * dimensionality checking.  Will throw if the array is missing the `writeable` flag.  Use with
+     * care: the array must not be destroyed or reshaped for the duration of the returned object,
+     * and the caller must take care not to access invalid dimensions or dimension indices.
+     */
+    template <typename T, ssize_t Dims = -1> detail::unchecked_mutable_reference<T, Dims> mutable_unchecked() & {
+        if (Dims >= 0 && ndim() != Dims)
+            throw std::domain_error("array has incorrect number of dimensions: " + std::to_string(ndim()) +
+                    "; expected " + std::to_string(Dims));
+        return detail::unchecked_mutable_reference<T, Dims>(mutable_data(), shape(), strides(), ndim());
+    }
+
+    /**
+     * Returns a proxy object that provides const access to the array's data without bounds or
+     * dimensionality checking.  Unlike `mutable_unchecked()`, this does not require that the
+     * underlying array have the `writable` flag.  Use with care: the array must not be destroyed or
+     * reshaped for the duration of the returned object, and the caller must take care not to access
+     * invalid dimensions or dimension indices.
+     */
+    template <typename T, ssize_t Dims = -1> detail::unchecked_reference<T, Dims> unchecked() const & {
+        if (Dims >= 0 && ndim() != Dims)
+            throw std::domain_error("array has incorrect number of dimensions: " + std::to_string(ndim()) +
+                    "; expected " + std::to_string(Dims));
+        return detail::unchecked_reference<T, Dims>(data(), shape(), strides(), ndim());
+    }
+
+    /// Return a new view with all of the dimensions of length 1 removed
+    array squeeze() {
+        auto& api = detail::npy_api::get();
+        return reinterpret_steal<array>(api.PyArray_Squeeze_(m_ptr));
+    }
+
+    /// Resize array to given shape
+    /// If refcheck is true and more that one reference exist to this array
+    /// then resize will succeed only if it makes a reshape, i.e. original size doesn't change
+    void resize(ShapeContainer new_shape, bool refcheck = true) {
+        detail::npy_api::PyArray_Dims d = {
+            new_shape->data(), int(new_shape->size())
+        };
+        // try to resize, set ordering param to -1 cause it's not used anyway
+        object new_array = reinterpret_steal<object>(
+            detail::npy_api::get().PyArray_Resize_(m_ptr, &d, int(refcheck), -1)
+        );
+        if (!new_array) throw error_already_set();
+        if (isinstance<array>(new_array)) { *this = std::move(new_array); }
+    }
+
+    /// Ensure that the argument is a NumPy array
+    /// In case of an error, nullptr is returned and the Python error is cleared.
+    static array ensure(handle h, int ExtraFlags = 0) {
+        auto result = reinterpret_steal<array>(raw_array(h.ptr(), ExtraFlags));
+        if (!result)
+            PyErr_Clear();
+        return result;
+    }
+
+protected:
+    template<typename, typename> friend struct detail::npy_format_descriptor;
+
+    void fail_dim_check(ssize_t dim, const std::string& msg) const {
+        throw index_error(msg + ": " + std::to_string(dim) +
+                          " (ndim = " + std::to_string(ndim()) + ")");
+    }
+
+    template<typename... Ix> ssize_t byte_offset(Ix... index) const {
+        check_dimensions(index...);
+        return detail::byte_offset_unsafe(strides(), ssize_t(index)...);
+    }
+
+    void check_writeable() const {
+        if (!writeable())
+            throw std::domain_error("array is not writeable");
+    }
+
+    template<typename... Ix> void check_dimensions(Ix... index) const {
+        check_dimensions_impl(ssize_t(0), shape(), ssize_t(index)...);
+    }
+
+    void check_dimensions_impl(ssize_t, const ssize_t*) const { }
+
+    template<typename... Ix> void check_dimensions_impl(ssize_t axis, const ssize_t* shape, ssize_t i, Ix... index) const {
+        if (i >= *shape) {
+            throw index_error(std::string("index ") + std::to_string(i) +
+                              " is out of bounds for axis " + std::to_string(axis) +
+                              " with size " + std::to_string(*shape));
+        }
+        check_dimensions_impl(axis + 1, shape + 1, index...);
+    }
+
+    /// Create array from any object -- always returns a new reference
+    static PyObject *raw_array(PyObject *ptr, int ExtraFlags = 0) {
+        if (ptr == nullptr) {
+            PyErr_SetString(PyExc_ValueError, "cannot create a pybind11::array from a nullptr");
+            return nullptr;
+        }
+        return detail::npy_api::get().PyArray_FromAny_(
+            ptr, nullptr, 0, 0, detail::npy_api::NPY_ARRAY_ENSUREARRAY_ | ExtraFlags, nullptr);
+    }
+};
+
+template <typename T, int ExtraFlags = array::forcecast> class array_t : public array {
+private:
+    struct private_ctor {};
+    // Delegating constructor needed when both moving and accessing in the same constructor
+    array_t(private_ctor, ShapeContainer &&shape, StridesContainer &&strides, const T *ptr, handle base)
+        : array(std::move(shape), std::move(strides), ptr, base) {}
+public:
+    static_assert(!detail::array_info<T>::is_array, "Array types cannot be used with array_t");
+
+    using value_type = T;
+
+    array_t() : array(0, static_cast<const T *>(nullptr)) {}
+    array_t(handle h, borrowed_t) : array(h, borrowed_t{}) { }
+    array_t(handle h, stolen_t) : array(h, stolen_t{}) { }
+
+    PYBIND11_DEPRECATED("Use array_t<T>::ensure() instead")
+    array_t(handle h, bool is_borrowed) : array(raw_array_t(h.ptr()), stolen_t{}) {
+        if (!m_ptr) PyErr_Clear();
+        if (!is_borrowed) Py_XDECREF(h.ptr());
+    }
+
+    array_t(const object &o) : array(raw_array_t(o.ptr()), stolen_t{}) {
+        if (!m_ptr) throw error_already_set();
+    }
+
+    explicit array_t(const buffer_info& info, handle base = handle()) : array(info, base) { }
+
+    array_t(ShapeContainer shape, StridesContainer strides, const T *ptr = nullptr, handle base = handle())
+        : array(std::move(shape), std::move(strides), ptr, base) { }
+
+    explicit array_t(ShapeContainer shape, const T *ptr = nullptr, handle base = handle())
+        : array_t(private_ctor{}, std::move(shape),
+                ExtraFlags & f_style
+                ? detail::f_strides(*shape, itemsize())
+                : detail::c_strides(*shape, itemsize()),
+                ptr, base) { }
+
+    explicit array_t(ssize_t count, const T *ptr = nullptr, handle base = handle())
+        : array({count}, {}, ptr, base) { }
+
+    constexpr ssize_t itemsize() const {
+        return sizeof(T);
+    }
+
+    template<typename... Ix> ssize_t index_at(Ix... index) const {
+        return offset_at(index...) / itemsize();
+    }
+
+    template<typename... Ix> const T* data(Ix... index) const {
+        return static_cast<const T*>(array::data(index...));
+    }
+
+    template<typename... Ix> T* mutable_data(Ix... index) {
+        return static_cast<T*>(array::mutable_data(index...));
+    }
+
+    // Reference to element at a given index
+    template<typename... Ix> const T& at(Ix... index) const {
+        if ((ssize_t) sizeof...(index) != ndim())
+            fail_dim_check(sizeof...(index), "index dimension mismatch");
+        return *(static_cast<const T*>(array::data()) + byte_offset(ssize_t(index)...) / itemsize());
+    }
+
+    // Mutable reference to element at a given index
+    template<typename... Ix> T& mutable_at(Ix... index) {
+        if ((ssize_t) sizeof...(index) != ndim())
+            fail_dim_check(sizeof...(index), "index dimension mismatch");
+        return *(static_cast<T*>(array::mutable_data()) + byte_offset(ssize_t(index)...) / itemsize());
+    }
+
+    /**
+     * Returns a proxy object that provides access to the array's data without bounds or
+     * dimensionality checking.  Will throw if the array is missing the `writeable` flag.  Use with
+     * care: the array must not be destroyed or reshaped for the duration of the returned object,
+     * and the caller must take care not to access invalid dimensions or dimension indices.
+     */
+    template <ssize_t Dims = -1> detail::unchecked_mutable_reference<T, Dims> mutable_unchecked() & {
+        return array::mutable_unchecked<T, Dims>();
+    }
+
+    /**
+     * Returns a proxy object that provides const access to the array's data without bounds or
+     * dimensionality checking.  Unlike `unchecked()`, this does not require that the underlying
+     * array have the `writable` flag.  Use with care: the array must not be destroyed or reshaped
+     * for the duration of the returned object, and the caller must take care not to access invalid
+     * dimensions or dimension indices.
+     */
+    template <ssize_t Dims = -1> detail::unchecked_reference<T, Dims> unchecked() const & {
+        return array::unchecked<T, Dims>();
+    }
+
+    /// Ensure that the argument is a NumPy array of the correct dtype (and if not, try to convert
+    /// it).  In case of an error, nullptr is returned and the Python error is cleared.
+    static array_t ensure(handle h) {
+        auto result = reinterpret_steal<array_t>(raw_array_t(h.ptr()));
+        if (!result)
+            PyErr_Clear();
+        return result;
+    }
+
+    static bool check_(handle h) {
+        const auto &api = detail::npy_api::get();
+        return api.PyArray_Check_(h.ptr())
+               && api.PyArray_EquivTypes_(detail::array_proxy(h.ptr())->descr, dtype::of<T>().ptr())
+               && detail::check_flags(h.ptr(), ExtraFlags & (array::c_style | array::f_style));
+    }
+
+protected:
+    /// Create array from any object -- always returns a new reference
+    static PyObject *raw_array_t(PyObject *ptr) {
+        if (ptr == nullptr) {
+            PyErr_SetString(PyExc_ValueError, "cannot create a pybind11::array_t from a nullptr");
+            return nullptr;
+        }
+        return detail::npy_api::get().PyArray_FromAny_(
+            ptr, dtype::of<T>().release().ptr(), 0, 0,
+            detail::npy_api::NPY_ARRAY_ENSUREARRAY_ | ExtraFlags, nullptr);
+    }
+};
+
+template <typename T>
+struct format_descriptor<T, detail::enable_if_t<detail::is_pod_struct<T>::value>> {
+    static std::string format() {
+        return detail::npy_format_descriptor<typename std::remove_cv<T>::type>::format();
+    }
+};
+
+template <size_t N> struct format_descriptor<char[N]> {
+    static std::string format() { return std::to_string(N) + "s"; }
+};
+template <size_t N> struct format_descriptor<std::array<char, N>> {
+    static std::string format() { return std::to_string(N) + "s"; }
+};
+
+template <typename T>
+struct format_descriptor<T, detail::enable_if_t<std::is_enum<T>::value>> {
+    static std::string format() {
+        return format_descriptor<
+            typename std::remove_cv<typename std::underlying_type<T>::type>::type>::format();
+    }
+};
+
+template <typename T>
+struct format_descriptor<T, detail::enable_if_t<detail::array_info<T>::is_array>> {
+    static std::string format() {
+        using namespace detail;
+        static constexpr auto extents = _("(") + array_info<T>::extents + _(")");
+        return extents.text + format_descriptor<remove_all_extents_t<T>>::format();
+    }
+};
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+template <typename T, int ExtraFlags>
+struct pyobject_caster<array_t<T, ExtraFlags>> {
+    using type = array_t<T, ExtraFlags>;
+
+    bool load(handle src, bool convert) {
+        if (!convert && !type::check_(src))
+            return false;
+        value = type::ensure(src);
+        return static_cast<bool>(value);
+    }
+
+    static handle cast(const handle &src, return_value_policy /* policy */, handle /* parent */) {
+        return src.inc_ref();
+    }
+    PYBIND11_TYPE_CASTER(type, handle_type_name<type>::name);
+};
+
+template <typename T>
+struct compare_buffer_info<T, detail::enable_if_t<detail::is_pod_struct<T>::value>> {
+    static bool compare(const buffer_info& b) {
+        return npy_api::get().PyArray_EquivTypes_(dtype::of<T>().ptr(), dtype(b).ptr());
+    }
+};
+
+template <typename T, typename = void>
+struct npy_format_descriptor_name;
+
+template <typename T>
+struct npy_format_descriptor_name<T, enable_if_t<std::is_integral<T>::value>> {
+    static constexpr auto name = _<std::is_same<T, bool>::value>(
+        _("bool"), _<std::is_signed<T>::value>("numpy.int", "numpy.uint") + _<sizeof(T)*8>()
+    );
+};
+
+template <typename T>
+struct npy_format_descriptor_name<T, enable_if_t<std::is_floating_point<T>::value>> {
+    static constexpr auto name = _<std::is_same<T, float>::value || std::is_same<T, double>::value>(
+        _("numpy.float") + _<sizeof(T)*8>(), _("numpy.longdouble")
+    );
+};
+
+template <typename T>
+struct npy_format_descriptor_name<T, enable_if_t<is_complex<T>::value>> {
+    static constexpr auto name = _<std::is_same<typename T::value_type, float>::value
+                                   || std::is_same<typename T::value_type, double>::value>(
+        _("numpy.complex") + _<sizeof(typename T::value_type)*16>(), _("numpy.longcomplex")
+    );
+};
+
+template <typename T>
+struct npy_format_descriptor<T, enable_if_t<satisfies_any_of<T, std::is_arithmetic, is_complex>::value>>
+    : npy_format_descriptor_name<T> {
+private:
+    // NB: the order here must match the one in common.h
+    constexpr static const int values[15] = {
+        npy_api::NPY_BOOL_,
+        npy_api::NPY_BYTE_,   npy_api::NPY_UBYTE_,   npy_api::NPY_INT16_,    npy_api::NPY_UINT16_,
+        npy_api::NPY_INT32_,  npy_api::NPY_UINT32_,  npy_api::NPY_INT64_,    npy_api::NPY_UINT64_,
+        npy_api::NPY_FLOAT_,  npy_api::NPY_DOUBLE_,  npy_api::NPY_LONGDOUBLE_,
+        npy_api::NPY_CFLOAT_, npy_api::NPY_CDOUBLE_, npy_api::NPY_CLONGDOUBLE_
+    };
+
+public:
+    static constexpr int value = values[detail::is_fmt_numeric<T>::index];
+
+    static pybind11::dtype dtype() {
+        if (auto ptr = npy_api::get().PyArray_DescrFromType_(value))
+            return reinterpret_steal<pybind11::dtype>(ptr);
+        pybind11_fail("Unsupported buffer format!");
+    }
+};
+
+#define PYBIND11_DECL_CHAR_FMT \
+    static constexpr auto name = _("S") + _<N>(); \
+    static pybind11::dtype dtype() { return pybind11::dtype(std::string("S") + std::to_string(N)); }
+template <size_t N> struct npy_format_descriptor<char[N]> { PYBIND11_DECL_CHAR_FMT };
+template <size_t N> struct npy_format_descriptor<std::array<char, N>> { PYBIND11_DECL_CHAR_FMT };
+#undef PYBIND11_DECL_CHAR_FMT
+
+template<typename T> struct npy_format_descriptor<T, enable_if_t<array_info<T>::is_array>> {
+private:
+    using base_descr = npy_format_descriptor<typename array_info<T>::type>;
+public:
+    static_assert(!array_info<T>::is_empty, "Zero-sized arrays are not supported");
+
+    static constexpr auto name = _("(") + array_info<T>::extents + _(")") + base_descr::name;
+    static pybind11::dtype dtype() {
+        list shape;
+        array_info<T>::append_extents(shape);
+        return pybind11::dtype::from_args(pybind11::make_tuple(base_descr::dtype(), shape));
+    }
+};
+
+template<typename T> struct npy_format_descriptor<T, enable_if_t<std::is_enum<T>::value>> {
+private:
+    using base_descr = npy_format_descriptor<typename std::underlying_type<T>::type>;
+public:
+    static constexpr auto name = base_descr::name;
+    static pybind11::dtype dtype() { return base_descr::dtype(); }
+};
+
+struct field_descriptor {
+    const char *name;
+    ssize_t offset;
+    ssize_t size;
+    std::string format;
+    dtype descr;
+};
+
+inline PYBIND11_NOINLINE void register_structured_dtype(
+    any_container<field_descriptor> fields,
+    const std::type_info& tinfo, ssize_t itemsize,
+    bool (*direct_converter)(PyObject *, void *&)) {
+
+    auto& numpy_internals = get_numpy_internals();
+    if (numpy_internals.get_type_info(tinfo, false))
+        pybind11_fail("NumPy: dtype is already registered");
+
+    // Use ordered fields because order matters as of NumPy 1.14:
+    // https://docs.scipy.org/doc/numpy/release.html#multiple-field-indexing-assignment-of-structured-arrays
+    std::vector<field_descriptor> ordered_fields(std::move(fields));
+    std::sort(ordered_fields.begin(), ordered_fields.end(),
+        [](const field_descriptor &a, const field_descriptor &b) { return a.offset < b.offset; });
+
+    list names, formats, offsets;
+    for (auto& field : ordered_fields) {
+        if (!field.descr)
+            pybind11_fail(std::string("NumPy: unsupported field dtype: `") +
+                            field.name + "` @ " + tinfo.name());
+        names.append(PYBIND11_STR_TYPE(field.name));
+        formats.append(field.descr);
+        offsets.append(pybind11::int_(field.offset));
+    }
+    auto dtype_ptr = pybind11::dtype(names, formats, offsets, itemsize).release().ptr();
+
+    // There is an existing bug in NumPy (as of v1.11): trailing bytes are
+    // not encoded explicitly into the format string. This will supposedly
+    // get fixed in v1.12; for further details, see these:
+    // - https://github.com/numpy/numpy/issues/7797
+    // - https://github.com/numpy/numpy/pull/7798
+    // Because of this, we won't use numpy's logic to generate buffer format
+    // strings and will just do it ourselves.
+    ssize_t offset = 0;
+    std::ostringstream oss;
+    // mark the structure as unaligned with '^', because numpy and C++ don't
+    // always agree about alignment (particularly for complex), and we're
+    // explicitly listing all our padding. This depends on none of the fields
+    // overriding the endianness. Putting the ^ in front of individual fields
+    // isn't guaranteed to work due to https://github.com/numpy/numpy/issues/9049
+    oss << "^T{";
+    for (auto& field : ordered_fields) {
+        if (field.offset > offset)
+            oss << (field.offset - offset) << 'x';
+        oss << field.format << ':' << field.name << ':';
+        offset = field.offset + field.size;
+    }
+    if (itemsize > offset)
+        oss << (itemsize - offset) << 'x';
+    oss << '}';
+    auto format_str = oss.str();
+
+    // Sanity check: verify that NumPy properly parses our buffer format string
+    auto& api = npy_api::get();
+    auto arr =  array(buffer_info(nullptr, itemsize, format_str, 1));
+    if (!api.PyArray_EquivTypes_(dtype_ptr, arr.dtype().ptr()))
+        pybind11_fail("NumPy: invalid buffer descriptor!");
+
+    auto tindex = std::type_index(tinfo);
+    numpy_internals.registered_dtypes[tindex] = { dtype_ptr, format_str };
+    get_internals().direct_conversions[tindex].push_back(direct_converter);
+}
+
+template <typename T, typename SFINAE> struct npy_format_descriptor {
+    static_assert(is_pod_struct<T>::value, "Attempt to use a non-POD or unimplemented POD type as a numpy dtype");
+
+    static constexpr auto name = make_caster<T>::name;
+
+    static pybind11::dtype dtype() {
+        return reinterpret_borrow<pybind11::dtype>(dtype_ptr());
+    }
+
+    static std::string format() {
+        static auto format_str = get_numpy_internals().get_type_info<T>(true)->format_str;
+        return format_str;
+    }
+
+    static void register_dtype(any_container<field_descriptor> fields) {
+        register_structured_dtype(std::move(fields), typeid(typename std::remove_cv<T>::type),
+                                  sizeof(T), &direct_converter);
+    }
+
+private:
+    static PyObject* dtype_ptr() {
+        static PyObject* ptr = get_numpy_internals().get_type_info<T>(true)->dtype_ptr;
+        return ptr;
+    }
+
+    static bool direct_converter(PyObject *obj, void*& value) {
+        auto& api = npy_api::get();
+        if (!PyObject_TypeCheck(obj, api.PyVoidArrType_Type_))
+            return false;
+        if (auto descr = reinterpret_steal<object>(api.PyArray_DescrFromScalar_(obj))) {
+            if (api.PyArray_EquivTypes_(dtype_ptr(), descr.ptr())) {
+                value = ((PyVoidScalarObject_Proxy *) obj)->obval;
+                return true;
+            }
+        }
+        return false;
+    }
+};
+
+#ifdef __CLION_IDE__ // replace heavy macro with dummy code for the IDE (doesn't affect code)
+# define PYBIND11_NUMPY_DTYPE(Type, ...) ((void)0)
+# define PYBIND11_NUMPY_DTYPE_EX(Type, ...) ((void)0)
+#else
+
+#define PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, Name)                                          \
+    ::pybind11::detail::field_descriptor {                                                    \
+        Name, offsetof(T, Field), sizeof(decltype(std::declval<T>().Field)),                  \
+        ::pybind11::format_descriptor<decltype(std::declval<T>().Field)>::format(),           \
+        ::pybind11::detail::npy_format_descriptor<decltype(std::declval<T>().Field)>::dtype() \
+    }
+
+// Extract name, offset and format descriptor for a struct field
+#define PYBIND11_FIELD_DESCRIPTOR(T, Field) PYBIND11_FIELD_DESCRIPTOR_EX(T, Field, #Field)
+
+// The main idea of this macro is borrowed from https://github.com/swansontec/map-macro
+// (C) William Swanson, Paul Fultz
+#define PYBIND11_EVAL0(...) __VA_ARGS__
+#define PYBIND11_EVAL1(...) PYBIND11_EVAL0 (PYBIND11_EVAL0 (PYBIND11_EVAL0 (__VA_ARGS__)))
+#define PYBIND11_EVAL2(...) PYBIND11_EVAL1 (PYBIND11_EVAL1 (PYBIND11_EVAL1 (__VA_ARGS__)))
+#define PYBIND11_EVAL3(...) PYBIND11_EVAL2 (PYBIND11_EVAL2 (PYBIND11_EVAL2 (__VA_ARGS__)))
+#define PYBIND11_EVAL4(...) PYBIND11_EVAL3 (PYBIND11_EVAL3 (PYBIND11_EVAL3 (__VA_ARGS__)))
+#define PYBIND11_EVAL(...)  PYBIND11_EVAL4 (PYBIND11_EVAL4 (PYBIND11_EVAL4 (__VA_ARGS__)))
+#define PYBIND11_MAP_END(...)
+#define PYBIND11_MAP_OUT
+#define PYBIND11_MAP_COMMA ,
+#define PYBIND11_MAP_GET_END() 0, PYBIND11_MAP_END
+#define PYBIND11_MAP_NEXT0(test, next, ...) next PYBIND11_MAP_OUT
+#define PYBIND11_MAP_NEXT1(test, next) PYBIND11_MAP_NEXT0 (test, next, 0)
+#define PYBIND11_MAP_NEXT(test, next)  PYBIND11_MAP_NEXT1 (PYBIND11_MAP_GET_END test, next)
+#if defined(_MSC_VER) && !defined(__clang__) // MSVC is not as eager to expand macros, hence this workaround
+#define PYBIND11_MAP_LIST_NEXT1(test, next) \
+    PYBIND11_EVAL0 (PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0))
+#else
+#define PYBIND11_MAP_LIST_NEXT1(test, next) \
+    PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0)
+#endif
+#define PYBIND11_MAP_LIST_NEXT(test, next) \
+    PYBIND11_MAP_LIST_NEXT1 (PYBIND11_MAP_GET_END test, next)
+#define PYBIND11_MAP_LIST0(f, t, x, peek, ...) \
+    f(t, x) PYBIND11_MAP_LIST_NEXT (peek, PYBIND11_MAP_LIST1) (f, t, peek, __VA_ARGS__)
+#define PYBIND11_MAP_LIST1(f, t, x, peek, ...) \
+    f(t, x) PYBIND11_MAP_LIST_NEXT (peek, PYBIND11_MAP_LIST0) (f, t, peek, __VA_ARGS__)
+// PYBIND11_MAP_LIST(f, t, a1, a2, ...) expands to f(t, a1), f(t, a2), ...
+#define PYBIND11_MAP_LIST(f, t, ...) \
+    PYBIND11_EVAL (PYBIND11_MAP_LIST1 (f, t, __VA_ARGS__, (), 0))
+
+#define PYBIND11_NUMPY_DTYPE(Type, ...) \
+    ::pybind11::detail::npy_format_descriptor<Type>::register_dtype \
+        (::std::vector<::pybind11::detail::field_descriptor> \
+         {PYBIND11_MAP_LIST (PYBIND11_FIELD_DESCRIPTOR, Type, __VA_ARGS__)})
+
+#if defined(_MSC_VER) && !defined(__clang__)
+#define PYBIND11_MAP2_LIST_NEXT1(test, next) \
+    PYBIND11_EVAL0 (PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0))
+#else
+#define PYBIND11_MAP2_LIST_NEXT1(test, next) \
+    PYBIND11_MAP_NEXT0 (test, PYBIND11_MAP_COMMA next, 0)
+#endif
+#define PYBIND11_MAP2_LIST_NEXT(test, next) \
+    PYBIND11_MAP2_LIST_NEXT1 (PYBIND11_MAP_GET_END test, next)
+#define PYBIND11_MAP2_LIST0(f, t, x1, x2, peek, ...) \
+    f(t, x1, x2) PYBIND11_MAP2_LIST_NEXT (peek, PYBIND11_MAP2_LIST1) (f, t, peek, __VA_ARGS__)
+#define PYBIND11_MAP2_LIST1(f, t, x1, x2, peek, ...) \
+    f(t, x1, x2) PYBIND11_MAP2_LIST_NEXT (peek, PYBIND11_MAP2_LIST0) (f, t, peek, __VA_ARGS__)
+// PYBIND11_MAP2_LIST(f, t, a1, a2, ...) expands to f(t, a1, a2), f(t, a3, a4), ...
+#define PYBIND11_MAP2_LIST(f, t, ...) \
+    PYBIND11_EVAL (PYBIND11_MAP2_LIST1 (f, t, __VA_ARGS__, (), 0))
+
+#define PYBIND11_NUMPY_DTYPE_EX(Type, ...) \
+    ::pybind11::detail::npy_format_descriptor<Type>::register_dtype \
+        (::std::vector<::pybind11::detail::field_descriptor> \
+         {PYBIND11_MAP2_LIST (PYBIND11_FIELD_DESCRIPTOR_EX, Type, __VA_ARGS__)})
+
+#endif // __CLION_IDE__
+
+class common_iterator {
+public:
+    using container_type = std::vector<ssize_t>;
+    using value_type = container_type::value_type;
+    using size_type = container_type::size_type;
+
+    common_iterator() : p_ptr(0), m_strides() {}
+
+    common_iterator(void* ptr, const container_type& strides, const container_type& shape)
+        : p_ptr(reinterpret_cast<char*>(ptr)), m_strides(strides.size()) {
+        m_strides.back() = static_cast<value_type>(strides.back());
+        for (size_type i = m_strides.size() - 1; i != 0; --i) {
+            size_type j = i - 1;
+            auto s = static_cast<value_type>(shape[i]);
+            m_strides[j] = strides[j] + m_strides[i] - strides[i] * s;
+        }
+    }
+
+    void increment(size_type dim) {
+        p_ptr += m_strides[dim];
+    }
+
+    void* data() const {
+        return p_ptr;
+    }
+
+private:
+    char* p_ptr;
+    container_type m_strides;
+};
+
+template <size_t N> class multi_array_iterator {
+public:
+    using container_type = std::vector<ssize_t>;
+
+    multi_array_iterator(const std::array<buffer_info, N> &buffers,
+                         const container_type &shape)
+        : m_shape(shape.size()), m_index(shape.size(), 0),
+          m_common_iterator() {
+
+        // Manual copy to avoid conversion warning if using std::copy
+        for (size_t i = 0; i < shape.size(); ++i)
+            m_shape[i] = shape[i];
+
+        container_type strides(shape.size());
+        for (size_t i = 0; i < N; ++i)
+            init_common_iterator(buffers[i], shape, m_common_iterator[i], strides);
+    }
+
+    multi_array_iterator& operator++() {
+        for (size_t j = m_index.size(); j != 0; --j) {
+            size_t i = j - 1;
+            if (++m_index[i] != m_shape[i]) {
+                increment_common_iterator(i);
+                break;
+            } else {
+                m_index[i] = 0;
+            }
+        }
+        return *this;
+    }
+
+    template <size_t K, class T = void> T* data() const {
+        return reinterpret_cast<T*>(m_common_iterator[K].data());
+    }
+
+private:
+
+    using common_iter = common_iterator;
+
+    void init_common_iterator(const buffer_info &buffer,
+                              const container_type &shape,
+                              common_iter &iterator,
+                              container_type &strides) {
+        auto buffer_shape_iter = buffer.shape.rbegin();
+        auto buffer_strides_iter = buffer.strides.rbegin();
+        auto shape_iter = shape.rbegin();
+        auto strides_iter = strides.rbegin();
+
+        while (buffer_shape_iter != buffer.shape.rend()) {
+            if (*shape_iter == *buffer_shape_iter)
+                *strides_iter = *buffer_strides_iter;
+            else
+                *strides_iter = 0;
+
+            ++buffer_shape_iter;
+            ++buffer_strides_iter;
+            ++shape_iter;
+            ++strides_iter;
+        }
+
+        std::fill(strides_iter, strides.rend(), 0);
+        iterator = common_iter(buffer.ptr, strides, shape);
+    }
+
+    void increment_common_iterator(size_t dim) {
+        for (auto &iter : m_common_iterator)
+            iter.increment(dim);
+    }
+
+    container_type m_shape;
+    container_type m_index;
+    std::array<common_iter, N> m_common_iterator;
+};
+
+enum class broadcast_trivial { non_trivial, c_trivial, f_trivial };
+
+// Populates the shape and number of dimensions for the set of buffers.  Returns a broadcast_trivial
+// enum value indicating whether the broadcast is "trivial"--that is, has each buffer being either a
+// singleton or a full-size, C-contiguous (`c_trivial`) or Fortran-contiguous (`f_trivial`) storage
+// buffer; returns `non_trivial` otherwise.
+template <size_t N>
+broadcast_trivial broadcast(const std::array<buffer_info, N> &buffers, ssize_t &ndim, std::vector<ssize_t> &shape) {
+    ndim = std::accumulate(buffers.begin(), buffers.end(), ssize_t(0), [](ssize_t res, const buffer_info &buf) {
+        return std::max(res, buf.ndim);
+    });
+
+    shape.clear();
+    shape.resize((size_t) ndim, 1);
+
+    // Figure out the output size, and make sure all input arrays conform (i.e. are either size 1 or
+    // the full size).
+    for (size_t i = 0; i < N; ++i) {
+        auto res_iter = shape.rbegin();
+        auto end = buffers[i].shape.rend();
+        for (auto shape_iter = buffers[i].shape.rbegin(); shape_iter != end; ++shape_iter, ++res_iter) {
+            const auto &dim_size_in = *shape_iter;
+            auto &dim_size_out = *res_iter;
+
+            // Each input dimension can either be 1 or `n`, but `n` values must match across buffers
+            if (dim_size_out == 1)
+                dim_size_out = dim_size_in;
+            else if (dim_size_in != 1 && dim_size_in != dim_size_out)
+                pybind11_fail("pybind11::vectorize: incompatible size/dimension of inputs!");
+        }
+    }
+
+    bool trivial_broadcast_c = true;
+    bool trivial_broadcast_f = true;
+    for (size_t i = 0; i < N && (trivial_broadcast_c || trivial_broadcast_f); ++i) {
+        if (buffers[i].size == 1)
+            continue;
+
+        // Require the same number of dimensions:
+        if (buffers[i].ndim != ndim)
+            return broadcast_trivial::non_trivial;
+
+        // Require all dimensions be full-size:
+        if (!std::equal(buffers[i].shape.cbegin(), buffers[i].shape.cend(), shape.cbegin()))
+            return broadcast_trivial::non_trivial;
+
+        // Check for C contiguity (but only if previous inputs were also C contiguous)
+        if (trivial_broadcast_c) {
+            ssize_t expect_stride = buffers[i].itemsize;
+            auto end = buffers[i].shape.crend();
+            for (auto shape_iter = buffers[i].shape.crbegin(), stride_iter = buffers[i].strides.crbegin();
+                    trivial_broadcast_c && shape_iter != end; ++shape_iter, ++stride_iter) {
+                if (expect_stride == *stride_iter)
+                    expect_stride *= *shape_iter;
+                else
+                    trivial_broadcast_c = false;
+            }
+        }
+
+        // Check for Fortran contiguity (if previous inputs were also F contiguous)
+        if (trivial_broadcast_f) {
+            ssize_t expect_stride = buffers[i].itemsize;
+            auto end = buffers[i].shape.cend();
+            for (auto shape_iter = buffers[i].shape.cbegin(), stride_iter = buffers[i].strides.cbegin();
+                    trivial_broadcast_f && shape_iter != end; ++shape_iter, ++stride_iter) {
+                if (expect_stride == *stride_iter)
+                    expect_stride *= *shape_iter;
+                else
+                    trivial_broadcast_f = false;
+            }
+        }
+    }
+
+    return
+        trivial_broadcast_c ? broadcast_trivial::c_trivial :
+        trivial_broadcast_f ? broadcast_trivial::f_trivial :
+        broadcast_trivial::non_trivial;
+}
+
+template <typename T>
+struct vectorize_arg {
+    static_assert(!std::is_rvalue_reference<T>::value, "Functions with rvalue reference arguments cannot be vectorized");
+    // The wrapped function gets called with this type:
+    using call_type = remove_reference_t<T>;
+    // Is this a vectorized argument?
+    static constexpr bool vectorize =
+        satisfies_any_of<call_type, std::is_arithmetic, is_complex, std::is_pod>::value &&
+        satisfies_none_of<call_type, std::is_pointer, std::is_array, is_std_array, std::is_enum>::value &&
+        (!std::is_reference<T>::value ||
+         (std::is_lvalue_reference<T>::value && std::is_const<call_type>::value));
+    // Accept this type: an array for vectorized types, otherwise the type as-is:
+    using type = conditional_t<vectorize, array_t<remove_cv_t<call_type>, array::forcecast>, T>;
+};
+
+
+// py::vectorize when a return type is present
+template <typename Func, typename Return, typename... Args>
+struct vectorize_returned_array {
+    using Type = array_t<Return>;
+
+    static Type create(broadcast_trivial trivial, const std::vector<ssize_t> &shape) {
+        if (trivial == broadcast_trivial::f_trivial)
+            return array_t<Return, array::f_style>(shape);
+        else
+            return array_t<Return>(shape);
+    }
+
+    static Return *mutable_data(Type &array) {
+        return array.mutable_data();
+    }
+
+    static Return call(Func &f, Args &... args) {
+        return f(args...);
+    }
+
+    static void call(Return *out, size_t i, Func &f, Args &... args) {
+        out[i] = f(args...);
+    }
+};
+
+// py::vectorize when a return type is not present
+template <typename Func, typename... Args>
+struct vectorize_returned_array<Func, void, Args...> {
+    using Type = none;
+
+    static Type create(broadcast_trivial, const std::vector<ssize_t> &) {
+        return none();
+    }
+
+    static void *mutable_data(Type &) {
+        return nullptr;
+    }
+
+    static detail::void_type call(Func &f, Args &... args) {
+        f(args...);
+        return {};
+    }
+
+    static void call(void *, size_t, Func &f, Args &... args) {
+        f(args...);
+    }
+};
+
+
+template <typename Func, typename Return, typename... Args>
+struct vectorize_helper {
+
+// NVCC for some reason breaks if NVectorized is private
+#ifdef __CUDACC__
+public:
+#else
+private:
+#endif
+
+    static constexpr size_t N = sizeof...(Args);
+    static constexpr size_t NVectorized = constexpr_sum(vectorize_arg<Args>::vectorize...);
+    static_assert(NVectorized >= 1,
+            "pybind11::vectorize(...) requires a function with at least one vectorizable argument");
+
+public:
+    template <typename T>
+    explicit vectorize_helper(T &&f) : f(std::forward<T>(f)) { }
+
+    object operator()(typename vectorize_arg<Args>::type... args) {
+        return run(args...,
+                   make_index_sequence<N>(),
+                   select_indices<vectorize_arg<Args>::vectorize...>(),
+                   make_index_sequence<NVectorized>());
+    }
+
+private:
+    remove_reference_t<Func> f;
+
+    // Internal compiler error in MSVC 19.16.27025.1 (Visual Studio 2017 15.9.4), when compiling with "/permissive-" flag
+    // when arg_call_types is manually inlined.
+    using arg_call_types = std::tuple<typename vectorize_arg<Args>::call_type...>;
+    template <size_t Index> using param_n_t = typename std::tuple_element<Index, arg_call_types>::type;
+
+    using returned_array = vectorize_returned_array<Func, Return, Args...>;
+
+    // Runs a vectorized function given arguments tuple and three index sequences:
+    //     - Index is the full set of 0 ... (N-1) argument indices;
+    //     - VIndex is the subset of argument indices with vectorized parameters, letting us access
+    //       vectorized arguments (anything not in this sequence is passed through)
+    //     - BIndex is a incremental sequence (beginning at 0) of the same size as VIndex, so that
+    //       we can store vectorized buffer_infos in an array (argument VIndex has its buffer at
+    //       index BIndex in the array).
+    template <size_t... Index, size_t... VIndex, size_t... BIndex> object run(
+            typename vectorize_arg<Args>::type &...args,
+            index_sequence<Index...> i_seq, index_sequence<VIndex...> vi_seq, index_sequence<BIndex...> bi_seq) {
+
+        // Pointers to values the function was called with; the vectorized ones set here will start
+        // out as array_t<T> pointers, but they will be changed them to T pointers before we make
+        // call the wrapped function.  Non-vectorized pointers are left as-is.
+        std::array<void *, N> params{{ &args... }};
+
+        // The array of `buffer_info`s of vectorized arguments:
+        std::array<buffer_info, NVectorized> buffers{{ reinterpret_cast<array *>(params[VIndex])->request()... }};
+
+        /* Determine dimensions parameters of output array */
+        ssize_t nd = 0;
+        std::vector<ssize_t> shape(0);
+        auto trivial = broadcast(buffers, nd, shape);
+        auto ndim = (size_t) nd;
+
+        size_t size = std::accumulate(shape.begin(), shape.end(), (size_t) 1, std::multiplies<size_t>());
+
+        // If all arguments are 0-dimension arrays (i.e. single values) return a plain value (i.e.
+        // not wrapped in an array).
+        if (size == 1 && ndim == 0) {
+            PYBIND11_EXPAND_SIDE_EFFECTS(params[VIndex] = buffers[BIndex].ptr);
+            return cast(returned_array::call(f, *reinterpret_cast<param_n_t<Index> *>(params[Index])...));
+        }
+
+        auto result = returned_array::create(trivial, shape);
+
+        if (size == 0) return std::move(result);
+
+        /* Call the function */
+        auto mutable_data = returned_array::mutable_data(result);
+        if (trivial == broadcast_trivial::non_trivial)
+            apply_broadcast(buffers, params, mutable_data, size, shape, i_seq, vi_seq, bi_seq);
+        else
+            apply_trivial(buffers, params, mutable_data, size, i_seq, vi_seq, bi_seq);
+
+        return std::move(result);
+    }
+
+    template <size_t... Index, size_t... VIndex, size_t... BIndex>
+    void apply_trivial(std::array<buffer_info, NVectorized> &buffers,
+                       std::array<void *, N> &params,
+                       Return *out,
+                       size_t size,
+                       index_sequence<Index...>, index_sequence<VIndex...>, index_sequence<BIndex...>) {
+
+        // Initialize an array of mutable byte references and sizes with references set to the
+        // appropriate pointer in `params`; as we iterate, we'll increment each pointer by its size
+        // (except for singletons, which get an increment of 0).
+        std::array<std::pair<unsigned char *&, const size_t>, NVectorized> vecparams{{
+            std::pair<unsigned char *&, const size_t>(
+                    reinterpret_cast<unsigned char *&>(params[VIndex] = buffers[BIndex].ptr),
+                    buffers[BIndex].size == 1 ? 0 : sizeof(param_n_t<VIndex>)
+            )...
+        }};
+
+        for (size_t i = 0; i < size; ++i) {
+            returned_array::call(out, i, f, *reinterpret_cast<param_n_t<Index> *>(params[Index])...);
+            for (auto &x : vecparams) x.first += x.second;
+        }
+    }
+
+    template <size_t... Index, size_t... VIndex, size_t... BIndex>
+    void apply_broadcast(std::array<buffer_info, NVectorized> &buffers,
+                         std::array<void *, N> &params,
+                         Return *out,
+                         size_t size,
+                         const std::vector<ssize_t> &output_shape,
+                         index_sequence<Index...>, index_sequence<VIndex...>, index_sequence<BIndex...>) {
+
+        multi_array_iterator<NVectorized> input_iter(buffers, output_shape);
+
+        for (size_t i = 0; i < size; ++i, ++input_iter) {
+            PYBIND11_EXPAND_SIDE_EFFECTS((
+                params[VIndex] = input_iter.template data<BIndex>()
+            ));
+            returned_array::call(out, i, f, *reinterpret_cast<param_n_t<Index> *>(std::get<Index>(params))...);
+        }
+    }
+};
+
+template <typename Func, typename Return, typename... Args>
+vectorize_helper<Func, Return, Args...>
+vectorize_extractor(const Func &f, Return (*) (Args ...)) {
+    return detail::vectorize_helper<Func, Return, Args...>(f);
+}
+
+template <typename T, int Flags> struct handle_type_name<array_t<T, Flags>> {
+    static constexpr auto name = _("numpy.ndarray[") + npy_format_descriptor<T>::name + _("]");
+};
+
+PYBIND11_NAMESPACE_END(detail)
+
+// Vanilla pointer vectorizer:
+template <typename Return, typename... Args>
+detail::vectorize_helper<Return (*)(Args...), Return, Args...>
+vectorize(Return (*f) (Args ...)) {
+    return detail::vectorize_helper<Return (*)(Args...), Return, Args...>(f);
+}
+
+// lambda vectorizer:
+template <typename Func, detail::enable_if_t<detail::is_lambda<Func>::value, int> = 0>
+auto vectorize(Func &&f) -> decltype(
+        detail::vectorize_extractor(std::forward<Func>(f), (detail::function_signature_t<Func> *) nullptr)) {
+    return detail::vectorize_extractor(std::forward<Func>(f), (detail::function_signature_t<Func> *) nullptr);
+}
+
+// Vectorize a class method (non-const):
+template <typename Return, typename Class, typename... Args,
+          typename Helper = detail::vectorize_helper<decltype(std::mem_fn(std::declval<Return (Class::*)(Args...)>())), Return, Class *, Args...>>
+Helper vectorize(Return (Class::*f)(Args...)) {
+    return Helper(std::mem_fn(f));
+}
+
+// Vectorize a class method (const):
+template <typename Return, typename Class, typename... Args,
+          typename Helper = detail::vectorize_helper<decltype(std::mem_fn(std::declval<Return (Class::*)(Args...) const>())), Return, const Class *, Args...>>
+Helper vectorize(Return (Class::*f)(Args...) const) {
+    return Helper(std::mem_fn(f));
+}
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/operators.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/operators.h
new file mode 100644
index 0000000..086cb4c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/operators.h
@@ -0,0 +1,173 @@
+/*
+    pybind11/operator.h: Metatemplates for operator overloading
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+
+#if defined(__clang__) && !defined(__INTEL_COMPILER)
+#  pragma clang diagnostic ignored "-Wunsequenced" // multiple unsequenced modifications to 'self' (when using def(py::self OP Type()))
+#elif defined(_MSC_VER)
+#  pragma warning(push)
+#  pragma warning(disable: 4127) // warning C4127: Conditional expression is constant
+#endif
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+/// Enumeration with all supported operator types
+enum op_id : int {
+    op_add, op_sub, op_mul, op_div, op_mod, op_divmod, op_pow, op_lshift,
+    op_rshift, op_and, op_xor, op_or, op_neg, op_pos, op_abs, op_invert,
+    op_int, op_long, op_float, op_str, op_cmp, op_gt, op_ge, op_lt, op_le,
+    op_eq, op_ne, op_iadd, op_isub, op_imul, op_idiv, op_imod, op_ilshift,
+    op_irshift, op_iand, op_ixor, op_ior, op_complex, op_bool, op_nonzero,
+    op_repr, op_truediv, op_itruediv, op_hash
+};
+
+enum op_type : int {
+    op_l, /* base type on left */
+    op_r, /* base type on right */
+    op_u  /* unary operator */
+};
+
+struct self_t { };
+static const self_t self = self_t();
+
+/// Type for an unused type slot
+struct undefined_t { };
+
+/// Don't warn about an unused variable
+inline self_t __self() { return self; }
+
+/// base template of operator implementations
+template <op_id, op_type, typename B, typename L, typename R> struct op_impl { };
+
+/// Operator implementation generator
+template <op_id id, op_type ot, typename L, typename R> struct op_ {
+    template <typename Class, typename... Extra> void execute(Class &cl, const Extra&... extra) const {
+        using Base = typename Class::type;
+        using L_type = conditional_t<std::is_same<L, self_t>::value, Base, L>;
+        using R_type = conditional_t<std::is_same<R, self_t>::value, Base, R>;
+        using op = op_impl<id, ot, Base, L_type, R_type>;
+        cl.def(op::name(), &op::execute, is_operator(), extra...);
+        #if PY_MAJOR_VERSION < 3
+        if (id == op_truediv || id == op_itruediv)
+            cl.def(id == op_itruediv ? "__idiv__" : ot == op_l ? "__div__" : "__rdiv__",
+                    &op::execute, is_operator(), extra...);
+        #endif
+    }
+    template <typename Class, typename... Extra> void execute_cast(Class &cl, const Extra&... extra) const {
+        using Base = typename Class::type;
+        using L_type = conditional_t<std::is_same<L, self_t>::value, Base, L>;
+        using R_type = conditional_t<std::is_same<R, self_t>::value, Base, R>;
+        using op = op_impl<id, ot, Base, L_type, R_type>;
+        cl.def(op::name(), &op::execute_cast, is_operator(), extra...);
+        #if PY_MAJOR_VERSION < 3
+        if (id == op_truediv || id == op_itruediv)
+            cl.def(id == op_itruediv ? "__idiv__" : ot == op_l ? "__div__" : "__rdiv__",
+                    &op::execute, is_operator(), extra...);
+        #endif
+    }
+};
+
+#define PYBIND11_BINARY_OPERATOR(id, rid, op, expr)                                    \
+template <typename B, typename L, typename R> struct op_impl<op_##id, op_l, B, L, R> { \
+    static char const* name() { return "__" #id "__"; }                                \
+    static auto execute(const L &l, const R &r) -> decltype(expr) { return (expr); }   \
+    static B execute_cast(const L &l, const R &r) { return B(expr); }                  \
+};                                                                                     \
+template <typename B, typename L, typename R> struct op_impl<op_##id, op_r, B, L, R> { \
+    static char const* name() { return "__" #rid "__"; }                               \
+    static auto execute(const R &r, const L &l) -> decltype(expr) { return (expr); }   \
+    static B execute_cast(const R &r, const L &l) { return B(expr); }                  \
+};                                                                                     \
+inline op_<op_##id, op_l, self_t, self_t> op(const self_t &, const self_t &) {         \
+    return op_<op_##id, op_l, self_t, self_t>();                                       \
+}                                                                                      \
+template <typename T> op_<op_##id, op_l, self_t, T> op(const self_t &, const T &) {    \
+    return op_<op_##id, op_l, self_t, T>();                                            \
+}                                                                                      \
+template <typename T> op_<op_##id, op_r, T, self_t> op(const T &, const self_t &) {    \
+    return op_<op_##id, op_r, T, self_t>();                                            \
+}
+
+#define PYBIND11_INPLACE_OPERATOR(id, op, expr)                                        \
+template <typename B, typename L, typename R> struct op_impl<op_##id, op_l, B, L, R> { \
+    static char const* name() { return "__" #id "__"; }                                \
+    static auto execute(L &l, const R &r) -> decltype(expr) { return expr; }           \
+    static B execute_cast(L &l, const R &r) { return B(expr); }                        \
+};                                                                                     \
+template <typename T> op_<op_##id, op_l, self_t, T> op(const self_t &, const T &) {    \
+    return op_<op_##id, op_l, self_t, T>();                                            \
+}
+
+#define PYBIND11_UNARY_OPERATOR(id, op, expr)                                          \
+template <typename B, typename L> struct op_impl<op_##id, op_u, B, L, undefined_t> {   \
+    static char const* name() { return "__" #id "__"; }                                \
+    static auto execute(const L &l) -> decltype(expr) { return expr; }                 \
+    static B execute_cast(const L &l) { return B(expr); }                              \
+};                                                                                     \
+inline op_<op_##id, op_u, self_t, undefined_t> op(const self_t &) {                    \
+    return op_<op_##id, op_u, self_t, undefined_t>();                                  \
+}
+
+PYBIND11_BINARY_OPERATOR(sub,       rsub,         operator-,    l - r)
+PYBIND11_BINARY_OPERATOR(add,       radd,         operator+,    l + r)
+PYBIND11_BINARY_OPERATOR(mul,       rmul,         operator*,    l * r)
+PYBIND11_BINARY_OPERATOR(truediv,   rtruediv,     operator/,    l / r)
+PYBIND11_BINARY_OPERATOR(mod,       rmod,         operator%,    l % r)
+PYBIND11_BINARY_OPERATOR(lshift,    rlshift,      operator<<,   l << r)
+PYBIND11_BINARY_OPERATOR(rshift,    rrshift,      operator>>,   l >> r)
+PYBIND11_BINARY_OPERATOR(and,       rand,         operator&,    l & r)
+PYBIND11_BINARY_OPERATOR(xor,       rxor,         operator^,    l ^ r)
+PYBIND11_BINARY_OPERATOR(eq,        eq,           operator==,   l == r)
+PYBIND11_BINARY_OPERATOR(ne,        ne,           operator!=,   l != r)
+PYBIND11_BINARY_OPERATOR(or,        ror,          operator|,    l | r)
+PYBIND11_BINARY_OPERATOR(gt,        lt,           operator>,    l > r)
+PYBIND11_BINARY_OPERATOR(ge,        le,           operator>=,   l >= r)
+PYBIND11_BINARY_OPERATOR(lt,        gt,           operator<,    l < r)
+PYBIND11_BINARY_OPERATOR(le,        ge,           operator<=,   l <= r)
+//PYBIND11_BINARY_OPERATOR(pow,       rpow,         pow,          std::pow(l,  r))
+PYBIND11_INPLACE_OPERATOR(iadd,     operator+=,   l += r)
+PYBIND11_INPLACE_OPERATOR(isub,     operator-=,   l -= r)
+PYBIND11_INPLACE_OPERATOR(imul,     operator*=,   l *= r)
+PYBIND11_INPLACE_OPERATOR(itruediv, operator/=,   l /= r)
+PYBIND11_INPLACE_OPERATOR(imod,     operator%=,   l %= r)
+PYBIND11_INPLACE_OPERATOR(ilshift,  operator<<=,  l <<= r)
+PYBIND11_INPLACE_OPERATOR(irshift,  operator>>=,  l >>= r)
+PYBIND11_INPLACE_OPERATOR(iand,     operator&=,   l &= r)
+PYBIND11_INPLACE_OPERATOR(ixor,     operator^=,   l ^= r)
+PYBIND11_INPLACE_OPERATOR(ior,      operator|=,   l |= r)
+PYBIND11_UNARY_OPERATOR(neg,        operator-,    -l)
+PYBIND11_UNARY_OPERATOR(pos,        operator+,    +l)
+// WARNING: This usage of `abs` should only be done for existing STL overloads.
+// Adding overloads directly in to the `std::` namespace is advised against:
+// https://en.cppreference.com/w/cpp/language/extending_std
+PYBIND11_UNARY_OPERATOR(abs,        abs,          std::abs(l))
+PYBIND11_UNARY_OPERATOR(hash,       hash,         std::hash<L>()(l))
+PYBIND11_UNARY_OPERATOR(invert,     operator~,    (~l))
+PYBIND11_UNARY_OPERATOR(bool,       operator!,    !!l)
+PYBIND11_UNARY_OPERATOR(int,        int_,         (int) l)
+PYBIND11_UNARY_OPERATOR(float,      float_,       (double) l)
+
+#undef PYBIND11_BINARY_OPERATOR
+#undef PYBIND11_INPLACE_OPERATOR
+#undef PYBIND11_UNARY_OPERATOR
+PYBIND11_NAMESPACE_END(detail)
+
+using detail::self;
+// Add named operators so that they are accessible via `py::`.
+using detail::hash;
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
+
+#if defined(_MSC_VER)
+#  pragma warning(pop)
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/options.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/options.h
new file mode 100644
index 0000000..d74db1c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/options.h
@@ -0,0 +1,65 @@
+/*
+    pybind11/options.h: global settings that are configurable at runtime.
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "detail/common.h"
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+class options {
+public:
+
+    // Default RAII constructor, which leaves settings as they currently are.
+    options() : previous_state(global_state()) {}
+
+    // Class is non-copyable.
+    options(const options&) = delete;
+    options& operator=(const options&) = delete;
+
+    // Destructor, which restores settings that were in effect before.
+    ~options() {
+        global_state() = previous_state;
+    }
+
+    // Setter methods (affect the global state):
+
+    options& disable_user_defined_docstrings() & { global_state().show_user_defined_docstrings = false; return *this; }
+
+    options& enable_user_defined_docstrings() & { global_state().show_user_defined_docstrings = true; return *this; }
+
+    options& disable_function_signatures() & { global_state().show_function_signatures = false; return *this; }
+
+    options& enable_function_signatures() & { global_state().show_function_signatures = true; return *this; }
+
+    // Getter methods (return the global state):
+
+    static bool show_user_defined_docstrings() { return global_state().show_user_defined_docstrings; }
+
+    static bool show_function_signatures() { return global_state().show_function_signatures; }
+
+    // This type is not meant to be allocated on the heap.
+    void* operator new(size_t) = delete;
+
+private:
+
+    struct state {
+        bool show_user_defined_docstrings = true;  //< Include user-supplied texts in docstrings.
+        bool show_function_signatures = true;      //< Include auto-generated function signatures in docstrings.
+    };
+
+    static state &global_state() {
+        static state instance;
+        return instance;
+    }
+
+    state previous_state;
+};
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/pybind11.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/pybind11.h
new file mode 100644
index 0000000..da682ea
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/pybind11.h
@@ -0,0 +1,2355 @@
+/*
+    pybind11/pybind11.h: Main header file of the C++11 python
+    binding generator library
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#if defined(__INTEL_COMPILER)
+#  pragma warning push
+#  pragma warning disable 68    // integer conversion resulted in a change of sign
+#  pragma warning disable 186   // pointless comparison of unsigned integer with zero
+#  pragma warning disable 878   // incompatible exception specifications
+#  pragma warning disable 1334  // the "template" keyword used for syntactic disambiguation may only be used within a template
+#  pragma warning disable 1682  // implicit conversion of a 64-bit integral type to a smaller integral type (potential portability problem)
+#  pragma warning disable 1786  // function "strdup" was declared deprecated
+#  pragma warning disable 1875  // offsetof applied to non-POD (Plain Old Data) types is nonstandard
+#  pragma warning disable 2196  // warning #2196: routine is both "inline" and "noinline"
+#elif defined(_MSC_VER)
+#  pragma warning(push)
+#  pragma warning(disable: 4100) // warning C4100: Unreferenced formal parameter
+#  pragma warning(disable: 4127) // warning C4127: Conditional expression is constant
+#  pragma warning(disable: 4512) // warning C4512: Assignment operator was implicitly defined as deleted
+#  pragma warning(disable: 4800) // warning C4800: 'int': forcing value to bool 'true' or 'false' (performance warning)
+#  pragma warning(disable: 4996) // warning C4996: The POSIX name for this item is deprecated. Instead, use the ISO C and C++ conformant name
+#  pragma warning(disable: 4702) // warning C4702: unreachable code
+#  pragma warning(disable: 4522) // warning C4522: multiple assignment operators specified
+#elif defined(__GNUG__) && !defined(__clang__)
+#  pragma GCC diagnostic push
+#  pragma GCC diagnostic ignored "-Wunused-but-set-parameter"
+#  pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+#  pragma GCC diagnostic ignored "-Wmissing-field-initializers"
+#  pragma GCC diagnostic ignored "-Wstrict-aliasing"
+#  pragma GCC diagnostic ignored "-Wattributes"
+#  if __GNUC__ >= 7
+#    pragma GCC diagnostic ignored "-Wnoexcept-type"
+#  endif
+#endif
+
+#include "attr.h"
+#include "options.h"
+#include "detail/class.h"
+#include "detail/init.h"
+
+#include <memory>
+#include <vector>
+#include <string>
+#include <utility>
+
+#if defined(__GNUG__) && !defined(__clang__)
+#  include <cxxabi.h>
+#endif
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+/// Wraps an arbitrary C++ function/method/lambda function/.. into a callable Python object
+class cpp_function : public function {
+public:
+    cpp_function() = default;
+    cpp_function(std::nullptr_t) { }
+
+    /// Construct a cpp_function from a vanilla function pointer
+    template <typename Return, typename... Args, typename... Extra>
+    cpp_function(Return (*f)(Args...), const Extra&... extra) {
+        initialize(f, f, extra...);
+    }
+
+    /// Construct a cpp_function from a lambda function (possibly with internal state)
+    template <typename Func, typename... Extra,
+              typename = detail::enable_if_t<detail::is_lambda<Func>::value>>
+    cpp_function(Func &&f, const Extra&... extra) {
+        initialize(std::forward<Func>(f),
+                   (detail::function_signature_t<Func> *) nullptr, extra...);
+    }
+
+    /// Construct a cpp_function from a class method (non-const, no ref-qualifier)
+    template <typename Return, typename Class, typename... Arg, typename... Extra>
+    cpp_function(Return (Class::*f)(Arg...), const Extra&... extra) {
+        initialize([f](Class *c, Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
+                   (Return (*) (Class *, Arg...)) nullptr, extra...);
+    }
+
+    /// Construct a cpp_function from a class method (non-const, lvalue ref-qualifier)
+    /// A copy of the overload for non-const functions without explicit ref-qualifier
+    /// but with an added `&`.
+    template <typename Return, typename Class, typename... Arg, typename... Extra>
+    cpp_function(Return (Class::*f)(Arg...)&, const Extra&... extra) {
+        initialize([f](Class *c, Arg... args) -> Return { return (c->*f)(args...); },
+                   (Return (*) (Class *, Arg...)) nullptr, extra...);
+    }
+
+    /// Construct a cpp_function from a class method (const, no ref-qualifier)
+    template <typename Return, typename Class, typename... Arg, typename... Extra>
+    cpp_function(Return (Class::*f)(Arg...) const, const Extra&... extra) {
+        initialize([f](const Class *c, Arg... args) -> Return { return (c->*f)(std::forward<Arg>(args)...); },
+                   (Return (*)(const Class *, Arg ...)) nullptr, extra...);
+    }
+
+    /// Construct a cpp_function from a class method (const, lvalue ref-qualifier)
+    /// A copy of the overload for const functions without explicit ref-qualifier
+    /// but with an added `&`.
+    template <typename Return, typename Class, typename... Arg, typename... Extra>
+    cpp_function(Return (Class::*f)(Arg...) const&, const Extra&... extra) {
+        initialize([f](const Class *c, Arg... args) -> Return { return (c->*f)(args...); },
+                   (Return (*)(const Class *, Arg ...)) nullptr, extra...);
+    }
+
+    /// Return the function name
+    object name() const { return attr("__name__"); }
+
+protected:
+    /// Space optimization: don't inline this frequently instantiated fragment
+    PYBIND11_NOINLINE detail::function_record *make_function_record() {
+        return new detail::function_record();
+    }
+
+    /// Special internal constructor for functors, lambda functions, etc.
+    template <typename Func, typename Return, typename... Args, typename... Extra>
+    void initialize(Func &&f, Return (*)(Args...), const Extra&... extra) {
+        using namespace detail;
+        struct capture { remove_reference_t<Func> f; };
+
+        /* Store the function including any extra state it might have (e.g. a lambda capture object) */
+        auto rec = make_function_record();
+
+        /* Store the capture object directly in the function record if there is enough space */
+        if (sizeof(capture) <= sizeof(rec->data)) {
+            /* Without these pragmas, GCC warns that there might not be
+               enough space to use the placement new operator. However, the
+               'if' statement above ensures that this is the case. */
+#if defined(__GNUG__) && !defined(__clang__) && __GNUC__ >= 6
+#  pragma GCC diagnostic push
+#  pragma GCC diagnostic ignored "-Wplacement-new"
+#endif
+            new ((capture *) &rec->data) capture { std::forward<Func>(f) };
+#if defined(__GNUG__) && !defined(__clang__) && __GNUC__ >= 6
+#  pragma GCC diagnostic pop
+#endif
+            if (!std::is_trivially_destructible<Func>::value)
+                rec->free_data = [](function_record *r) { ((capture *) &r->data)->~capture(); };
+        } else {
+            rec->data[0] = new capture { std::forward<Func>(f) };
+            rec->free_data = [](function_record *r) { delete ((capture *) r->data[0]); };
+        }
+
+        /* Type casters for the function arguments and return value */
+        using cast_in = argument_loader<Args...>;
+        using cast_out = make_caster<
+            conditional_t<std::is_void<Return>::value, void_type, Return>
+        >;
+
+        static_assert(expected_num_args<Extra...>(sizeof...(Args), cast_in::has_args, cast_in::has_kwargs),
+                      "The number of argument annotations does not match the number of function arguments");
+
+        /* Dispatch code which converts function arguments and performs the actual function call */
+        rec->impl = [](function_call &call) -> handle {
+            cast_in args_converter;
+
+            /* Try to cast the function arguments into the C++ domain */
+            if (!args_converter.load_args(call))
+                return PYBIND11_TRY_NEXT_OVERLOAD;
+
+            /* Invoke call policy pre-call hook */
+            process_attributes<Extra...>::precall(call);
+
+            /* Get a pointer to the capture object */
+            auto data = (sizeof(capture) <= sizeof(call.func.data)
+                         ? &call.func.data : call.func.data[0]);
+            auto *cap = const_cast<capture *>(reinterpret_cast<const capture *>(data));
+
+            /* Override policy for rvalues -- usually to enforce rvp::move on an rvalue */
+            return_value_policy policy = return_value_policy_override<Return>::policy(call.func.policy);
+
+            /* Function scope guard -- defaults to the compile-to-nothing `void_type` */
+            using Guard = extract_guard_t<Extra...>;
+
+            /* Perform the function call */
+            handle result = cast_out::cast(
+                std::move(args_converter).template call<Return, Guard>(cap->f), policy, call.parent);
+
+            /* Invoke call policy post-call hook */
+            process_attributes<Extra...>::postcall(call, result);
+
+            return result;
+        };
+
+        /* Process any user-provided function attributes */
+        process_attributes<Extra...>::init(extra..., rec);
+
+        {
+            constexpr bool has_kw_only_args = any_of<std::is_same<kw_only, Extra>...>::value,
+                           has_pos_only_args = any_of<std::is_same<pos_only, Extra>...>::value,
+                           has_args = any_of<std::is_same<args, Args>...>::value,
+                           has_arg_annotations = any_of<is_keyword<Extra>...>::value;
+            static_assert(has_arg_annotations || !has_kw_only_args, "py::kw_only requires the use of argument annotations");
+            static_assert(has_arg_annotations || !has_pos_only_args, "py::pos_only requires the use of argument annotations (for docstrings and aligning the annotations to the argument)");
+            static_assert(!(has_args && has_kw_only_args), "py::kw_only cannot be combined with a py::args argument");
+        }
+
+        /* Generate a readable signature describing the function's arguments and return value types */
+        static constexpr auto signature = _("(") + cast_in::arg_names + _(") -> ") + cast_out::name;
+        PYBIND11_DESCR_CONSTEXPR auto types = decltype(signature)::types();
+
+        /* Register the function with Python from generic (non-templated) code */
+        initialize_generic(rec, signature.text, types.data(), sizeof...(Args));
+
+        if (cast_in::has_args) rec->has_args = true;
+        if (cast_in::has_kwargs) rec->has_kwargs = true;
+
+        /* Stash some additional information used by an important optimization in 'functional.h' */
+        using FunctionType = Return (*)(Args...);
+        constexpr bool is_function_ptr =
+            std::is_convertible<Func, FunctionType>::value &&
+            sizeof(capture) == sizeof(void *);
+        if (is_function_ptr) {
+            rec->is_stateless = true;
+            rec->data[1] = const_cast<void *>(reinterpret_cast<const void *>(&typeid(FunctionType)));
+        }
+    }
+
+    /// Register a function call with Python (generic non-templated code goes here)
+    void initialize_generic(detail::function_record *rec, const char *text,
+                            const std::type_info *const *types, size_t args) {
+
+        /* Create copies of all referenced C-style strings */
+        rec->name = strdup(rec->name ? rec->name : "");
+        if (rec->doc) rec->doc = strdup(rec->doc);
+        for (auto &a: rec->args) {
+            if (a.name)
+                a.name = strdup(a.name);
+            if (a.descr)
+                a.descr = strdup(a.descr);
+            else if (a.value)
+                a.descr = strdup(repr(a.value).cast<std::string>().c_str());
+        }
+
+        rec->is_constructor = !strcmp(rec->name, "__init__") || !strcmp(rec->name, "__setstate__");
+
+#if !defined(NDEBUG) && !defined(PYBIND11_DISABLE_NEW_STYLE_INIT_WARNING)
+        if (rec->is_constructor && !rec->is_new_style_constructor) {
+            const auto class_name = detail::get_fully_qualified_tp_name((PyTypeObject *) rec->scope.ptr());
+            const auto func_name = std::string(rec->name);
+            PyErr_WarnEx(
+                PyExc_FutureWarning,
+                ("pybind11-bound class '" + class_name + "' is using an old-style "
+                 "placement-new '" + func_name + "' which has been deprecated. See "
+                 "the upgrade guide in pybind11's docs. This message is only visible "
+                 "when compiled in debug mode.").c_str(), 0
+            );
+        }
+#endif
+
+        /* Generate a proper function signature */
+        std::string signature;
+        size_t type_index = 0, arg_index = 0;
+        for (auto *pc = text; *pc != '\0'; ++pc) {
+            const auto c = *pc;
+
+            if (c == '{') {
+                // Write arg name for everything except *args and **kwargs.
+                if (*(pc + 1) == '*')
+                    continue;
+                // Separator for keyword-only arguments, placed before the kw
+                // arguments start
+                if (rec->nargs_kw_only > 0 && arg_index + rec->nargs_kw_only == args)
+                    signature += "*, ";
+                if (arg_index < rec->args.size() && rec->args[arg_index].name) {
+                    signature += rec->args[arg_index].name;
+                } else if (arg_index == 0 && rec->is_method) {
+                    signature += "self";
+                } else {
+                    signature += "arg" + std::to_string(arg_index - (rec->is_method ? 1 : 0));
+                }
+                signature += ": ";
+            } else if (c == '}') {
+                // Write default value if available.
+                if (arg_index < rec->args.size() && rec->args[arg_index].descr) {
+                    signature += " = ";
+                    signature += rec->args[arg_index].descr;
+                }
+                // Separator for positional-only arguments (placed after the
+                // argument, rather than before like *
+                if (rec->nargs_pos_only > 0 && (arg_index + 1) == rec->nargs_pos_only)
+                    signature += ", /";
+                arg_index++;
+            } else if (c == '%') {
+                const std::type_info *t = types[type_index++];
+                if (!t)
+                    pybind11_fail("Internal error while parsing type signature (1)");
+                if (auto tinfo = detail::get_type_info(*t)) {
+                    handle th((PyObject *) tinfo->type);
+                    signature +=
+                        th.attr("__module__").cast<std::string>() + "." +
+                        th.attr("__qualname__").cast<std::string>(); // Python 3.3+, but we backport it to earlier versions
+                } else if (rec->is_new_style_constructor && arg_index == 0) {
+                    // A new-style `__init__` takes `self` as `value_and_holder`.
+                    // Rewrite it to the proper class type.
+                    signature +=
+                        rec->scope.attr("__module__").cast<std::string>() + "." +
+                        rec->scope.attr("__qualname__").cast<std::string>();
+                } else {
+                    std::string tname(t->name());
+                    detail::clean_type_id(tname);
+                    signature += tname;
+                }
+            } else {
+                signature += c;
+            }
+        }
+
+        if (arg_index != args || types[type_index] != nullptr)
+            pybind11_fail("Internal error while parsing type signature (2)");
+
+#if PY_MAJOR_VERSION < 3
+        if (strcmp(rec->name, "__next__") == 0) {
+            std::free(rec->name);
+            rec->name = strdup("next");
+        } else if (strcmp(rec->name, "__bool__") == 0) {
+            std::free(rec->name);
+            rec->name = strdup("__nonzero__");
+        }
+#endif
+        rec->signature = strdup(signature.c_str());
+        rec->args.shrink_to_fit();
+        rec->nargs = (std::uint16_t) args;
+
+        if (rec->sibling && PYBIND11_INSTANCE_METHOD_CHECK(rec->sibling.ptr()))
+            rec->sibling = PYBIND11_INSTANCE_METHOD_GET_FUNCTION(rec->sibling.ptr());
+
+        detail::function_record *chain = nullptr, *chain_start = rec;
+        if (rec->sibling) {
+            if (PyCFunction_Check(rec->sibling.ptr())) {
+                auto rec_capsule = reinterpret_borrow<capsule>(PyCFunction_GET_SELF(rec->sibling.ptr()));
+                chain = (detail::function_record *) rec_capsule;
+                /* Never append a method to an overload chain of a parent class;
+                   instead, hide the parent's overloads in this case */
+                if (!chain->scope.is(rec->scope))
+                    chain = nullptr;
+            }
+            // Don't trigger for things like the default __init__, which are wrapper_descriptors that we are intentionally replacing
+            else if (!rec->sibling.is_none() && rec->name[0] != '_')
+                pybind11_fail("Cannot overload existing non-function object \"" + std::string(rec->name) +
+                        "\" with a function of the same name");
+        }
+
+        if (!chain) {
+            /* No existing overload was found, create a new function object */
+            rec->def = new PyMethodDef();
+            std::memset(rec->def, 0, sizeof(PyMethodDef));
+            rec->def->ml_name = rec->name;
+            rec->def->ml_meth = reinterpret_cast<PyCFunction>(reinterpret_cast<void (*) (void)>(*dispatcher));
+            rec->def->ml_flags = METH_VARARGS | METH_KEYWORDS;
+
+            capsule rec_capsule(rec, [](void *ptr) {
+                destruct((detail::function_record *) ptr);
+            });
+
+            object scope_module;
+            if (rec->scope) {
+                if (hasattr(rec->scope, "__module__")) {
+                    scope_module = rec->scope.attr("__module__");
+                } else if (hasattr(rec->scope, "__name__")) {
+                    scope_module = rec->scope.attr("__name__");
+                }
+            }
+
+            m_ptr = PyCFunction_NewEx(rec->def, rec_capsule.ptr(), scope_module.ptr());
+            if (!m_ptr)
+                pybind11_fail("cpp_function::cpp_function(): Could not allocate function object");
+        } else {
+            /* Append at the beginning or end of the overload chain */
+            m_ptr = rec->sibling.ptr();
+            inc_ref();
+            if (chain->is_method != rec->is_method)
+                pybind11_fail("overloading a method with both static and instance methods is not supported; "
+                    #if defined(NDEBUG)
+                        "compile in debug mode for more details"
+                    #else
+                        "error while attempting to bind " + std::string(rec->is_method ? "instance" : "static") + " method " +
+                        std::string(pybind11::str(rec->scope.attr("__name__"))) + "." + std::string(rec->name) + signature
+                    #endif
+                );
+
+            if (rec->prepend) {
+                // Beginning of chain; we need to replace the capsule's current head-of-the-chain
+                // pointer with this one, then make this one point to the previous head of the
+                // chain.
+                chain_start = rec;
+                rec->next = chain;
+                auto rec_capsule = reinterpret_borrow<capsule>(((PyCFunctionObject *) m_ptr)->m_self);
+                rec_capsule.set_pointer(rec);
+            } else {
+                // Or end of chain (normal behavior)
+                chain_start = chain;
+                while (chain->next)
+                    chain = chain->next;
+                chain->next = rec;
+            }
+        }
+
+        std::string signatures;
+        int index = 0;
+        /* Create a nice pydoc rec including all signatures and
+           docstrings of the functions in the overload chain */
+        if (chain && options::show_function_signatures()) {
+            // First a generic signature
+            signatures += rec->name;
+            signatures += "(*args, **kwargs)\n";
+            signatures += "Overloaded function.\n\n";
+        }
+        // Then specific overload signatures
+        bool first_user_def = true;
+        for (auto it = chain_start; it != nullptr; it = it->next) {
+            if (options::show_function_signatures()) {
+                if (index > 0) signatures += "\n";
+                if (chain)
+                    signatures += std::to_string(++index) + ". ";
+                signatures += rec->name;
+                signatures += it->signature;
+                signatures += "\n";
+            }
+            if (it->doc && strlen(it->doc) > 0 && options::show_user_defined_docstrings()) {
+                // If we're appending another docstring, and aren't printing function signatures, we
+                // need to append a newline first:
+                if (!options::show_function_signatures()) {
+                    if (first_user_def) first_user_def = false;
+                    else signatures += "\n";
+                }
+                if (options::show_function_signatures()) signatures += "\n";
+                signatures += it->doc;
+                if (options::show_function_signatures()) signatures += "\n";
+            }
+        }
+
+        /* Install docstring */
+        auto *func = (PyCFunctionObject *) m_ptr;
+        if (func->m_ml->ml_doc)
+            std::free(const_cast<char *>(func->m_ml->ml_doc));
+        func->m_ml->ml_doc = strdup(signatures.c_str());
+
+        if (rec->is_method) {
+            m_ptr = PYBIND11_INSTANCE_METHOD_NEW(m_ptr, rec->scope.ptr());
+            if (!m_ptr)
+                pybind11_fail("cpp_function::cpp_function(): Could not allocate instance method object");
+            Py_DECREF(func);
+        }
+    }
+
+    /// When a cpp_function is GCed, release any memory allocated by pybind11
+    static void destruct(detail::function_record *rec) {
+        while (rec) {
+            detail::function_record *next = rec->next;
+            if (rec->free_data)
+                rec->free_data(rec);
+            std::free((char *) rec->name);
+            std::free((char *) rec->doc);
+            std::free((char *) rec->signature);
+            for (auto &arg: rec->args) {
+                std::free(const_cast<char *>(arg.name));
+                std::free(const_cast<char *>(arg.descr));
+                arg.value.dec_ref();
+            }
+            if (rec->def) {
+                std::free(const_cast<char *>(rec->def->ml_doc));
+                delete rec->def;
+            }
+            delete rec;
+            rec = next;
+        }
+    }
+
+    /// Main dispatch logic for calls to functions bound using pybind11
+    static PyObject *dispatcher(PyObject *self, PyObject *args_in, PyObject *kwargs_in) {
+        using namespace detail;
+
+        /* Iterator over the list of potentially admissible overloads */
+        const function_record *overloads = (function_record *) PyCapsule_GetPointer(self, nullptr),
+                              *it = overloads;
+
+        /* Need to know how many arguments + keyword arguments there are to pick the right overload */
+        const auto n_args_in = (size_t) PyTuple_GET_SIZE(args_in);
+
+        handle parent = n_args_in > 0 ? PyTuple_GET_ITEM(args_in, 0) : nullptr,
+               result = PYBIND11_TRY_NEXT_OVERLOAD;
+
+        auto self_value_and_holder = value_and_holder();
+        if (overloads->is_constructor) {
+            const auto tinfo = get_type_info((PyTypeObject *) overloads->scope.ptr());
+            const auto pi = reinterpret_cast<instance *>(parent.ptr());
+            self_value_and_holder = pi->get_value_and_holder(tinfo, false);
+
+            if (!self_value_and_holder.type || !self_value_and_holder.inst) {
+                PyErr_SetString(PyExc_TypeError, "__init__(self, ...) called with invalid `self` argument");
+                return nullptr;
+            }
+
+            // If this value is already registered it must mean __init__ is invoked multiple times;
+            // we really can't support that in C++, so just ignore the second __init__.
+            if (self_value_and_holder.instance_registered())
+                return none().release().ptr();
+        }
+
+        try {
+            // We do this in two passes: in the first pass, we load arguments with `convert=false`;
+            // in the second, we allow conversion (except for arguments with an explicit
+            // py::arg().noconvert()).  This lets us prefer calls without conversion, with
+            // conversion as a fallback.
+            std::vector<function_call> second_pass;
+
+            // However, if there are no overloads, we can just skip the no-convert pass entirely
+            const bool overloaded = it != nullptr && it->next != nullptr;
+
+            for (; it != nullptr; it = it->next) {
+
+                /* For each overload:
+                   1. Copy all positional arguments we were given, also checking to make sure that
+                      named positional arguments weren't *also* specified via kwarg.
+                   2. If we weren't given enough, try to make up the omitted ones by checking
+                      whether they were provided by a kwarg matching the `py::arg("name")` name.  If
+                      so, use it (and remove it from kwargs; if not, see if the function binding
+                      provided a default that we can use.
+                   3. Ensure that either all keyword arguments were "consumed", or that the function
+                      takes a kwargs argument to accept unconsumed kwargs.
+                   4. Any positional arguments still left get put into a tuple (for args), and any
+                      leftover kwargs get put into a dict.
+                   5. Pack everything into a vector; if we have py::args or py::kwargs, they are an
+                      extra tuple or dict at the end of the positional arguments.
+                   6. Call the function call dispatcher (function_record::impl)
+
+                   If one of these fail, move on to the next overload and keep trying until we get a
+                   result other than PYBIND11_TRY_NEXT_OVERLOAD.
+                 */
+
+                const function_record &func = *it;
+                size_t num_args = func.nargs;    // Number of positional arguments that we need
+                if (func.has_args) --num_args;   // (but don't count py::args
+                if (func.has_kwargs) --num_args; //  or py::kwargs)
+                size_t pos_args = num_args - func.nargs_kw_only;
+
+                if (!func.has_args && n_args_in > pos_args)
+                    continue; // Too many positional arguments for this overload
+
+                if (n_args_in < pos_args && func.args.size() < pos_args)
+                    continue; // Not enough positional arguments given, and not enough defaults to fill in the blanks
+
+                function_call call(func, parent);
+
+                size_t args_to_copy = (std::min)(pos_args, n_args_in); // Protect std::min with parentheses
+                size_t args_copied = 0;
+
+                // 0. Inject new-style `self` argument
+                if (func.is_new_style_constructor) {
+                    // The `value` may have been preallocated by an old-style `__init__`
+                    // if it was a preceding candidate for overload resolution.
+                    if (self_value_and_holder)
+                        self_value_and_holder.type->dealloc(self_value_and_holder);
+
+                    call.init_self = PyTuple_GET_ITEM(args_in, 0);
+                    call.args.emplace_back(reinterpret_cast<PyObject *>(&self_value_and_holder));
+                    call.args_convert.push_back(false);
+                    ++args_copied;
+                }
+
+                // 1. Copy any position arguments given.
+                bool bad_arg = false;
+                for (; args_copied < args_to_copy; ++args_copied) {
+                    const argument_record *arg_rec = args_copied < func.args.size() ? &func.args[args_copied] : nullptr;
+                    if (kwargs_in && arg_rec && arg_rec->name && PyDict_GetItemString(kwargs_in, arg_rec->name)) {
+                        bad_arg = true;
+                        break;
+                    }
+
+                    handle arg(PyTuple_GET_ITEM(args_in, args_copied));
+                    if (arg_rec && !arg_rec->none && arg.is_none()) {
+                        bad_arg = true;
+                        break;
+                    }
+                    call.args.push_back(arg);
+                    call.args_convert.push_back(arg_rec ? arg_rec->convert : true);
+                }
+                if (bad_arg)
+                    continue; // Maybe it was meant for another overload (issue #688)
+
+                // We'll need to copy this if we steal some kwargs for defaults
+                dict kwargs = reinterpret_borrow<dict>(kwargs_in);
+
+                // 1.5. Fill in any missing pos_only args from defaults if they exist
+                if (args_copied < func.nargs_pos_only) {
+                    for (; args_copied < func.nargs_pos_only; ++args_copied) {
+                        const auto &arg = func.args[args_copied];
+                        handle value;
+
+                        if (arg.value) {
+                            value = arg.value;
+                        }
+                        if (value) {
+                            call.args.push_back(value);
+                            call.args_convert.push_back(arg.convert);
+                        } else
+                            break;
+                    }
+
+                    if (args_copied < func.nargs_pos_only)
+                        continue; // Not enough defaults to fill the positional arguments
+                }
+
+                // 2. Check kwargs and, failing that, defaults that may help complete the list
+                if (args_copied < num_args) {
+                    bool copied_kwargs = false;
+
+                    for (; args_copied < num_args; ++args_copied) {
+                        const auto &arg = func.args[args_copied];
+
+                        handle value;
+                        if (kwargs_in && arg.name)
+                            value = PyDict_GetItemString(kwargs.ptr(), arg.name);
+
+                        if (value) {
+                            // Consume a kwargs value
+                            if (!copied_kwargs) {
+                                kwargs = reinterpret_steal<dict>(PyDict_Copy(kwargs.ptr()));
+                                copied_kwargs = true;
+                            }
+                            PyDict_DelItemString(kwargs.ptr(), arg.name);
+                        } else if (arg.value) {
+                            value = arg.value;
+                        }
+
+                        if (value) {
+                            call.args.push_back(value);
+                            call.args_convert.push_back(arg.convert);
+                        }
+                        else
+                            break;
+                    }
+
+                    if (args_copied < num_args)
+                        continue; // Not enough arguments, defaults, or kwargs to fill the positional arguments
+                }
+
+                // 3. Check everything was consumed (unless we have a kwargs arg)
+                if (kwargs && !kwargs.empty() && !func.has_kwargs)
+                    continue; // Unconsumed kwargs, but no py::kwargs argument to accept them
+
+                // 4a. If we have a py::args argument, create a new tuple with leftovers
+                if (func.has_args) {
+                    tuple extra_args;
+                    if (args_to_copy == 0) {
+                        // We didn't copy out any position arguments from the args_in tuple, so we
+                        // can reuse it directly without copying:
+                        extra_args = reinterpret_borrow<tuple>(args_in);
+                    } else if (args_copied >= n_args_in) {
+                        extra_args = tuple(0);
+                    } else {
+                        size_t args_size = n_args_in - args_copied;
+                        extra_args = tuple(args_size);
+                        for (size_t i = 0; i < args_size; ++i) {
+                            extra_args[i] = PyTuple_GET_ITEM(args_in, args_copied + i);
+                        }
+                    }
+                    call.args.push_back(extra_args);
+                    call.args_convert.push_back(false);
+                    call.args_ref = std::move(extra_args);
+                }
+
+                // 4b. If we have a py::kwargs, pass on any remaining kwargs
+                if (func.has_kwargs) {
+                    if (!kwargs.ptr())
+                        kwargs = dict(); // If we didn't get one, send an empty one
+                    call.args.push_back(kwargs);
+                    call.args_convert.push_back(false);
+                    call.kwargs_ref = std::move(kwargs);
+                }
+
+                // 5. Put everything in a vector.  Not technically step 5, we've been building it
+                // in `call.args` all along.
+                #if !defined(NDEBUG)
+                if (call.args.size() != func.nargs || call.args_convert.size() != func.nargs)
+                    pybind11_fail("Internal error: function call dispatcher inserted wrong number of arguments!");
+                #endif
+
+                std::vector<bool> second_pass_convert;
+                if (overloaded) {
+                    // We're in the first no-convert pass, so swap out the conversion flags for a
+                    // set of all-false flags.  If the call fails, we'll swap the flags back in for
+                    // the conversion-allowed call below.
+                    second_pass_convert.resize(func.nargs, false);
+                    call.args_convert.swap(second_pass_convert);
+                }
+
+                // 6. Call the function.
+                try {
+                    loader_life_support guard{};
+                    result = func.impl(call);
+                } catch (reference_cast_error &) {
+                    result = PYBIND11_TRY_NEXT_OVERLOAD;
+                }
+
+                if (result.ptr() != PYBIND11_TRY_NEXT_OVERLOAD)
+                    break;
+
+                if (overloaded) {
+                    // The (overloaded) call failed; if the call has at least one argument that
+                    // permits conversion (i.e. it hasn't been explicitly specified `.noconvert()`)
+                    // then add this call to the list of second pass overloads to try.
+                    for (size_t i = func.is_method ? 1 : 0; i < pos_args; i++) {
+                        if (second_pass_convert[i]) {
+                            // Found one: swap the converting flags back in and store the call for
+                            // the second pass.
+                            call.args_convert.swap(second_pass_convert);
+                            second_pass.push_back(std::move(call));
+                            break;
+                        }
+                    }
+                }
+            }
+
+            if (overloaded && !second_pass.empty() && result.ptr() == PYBIND11_TRY_NEXT_OVERLOAD) {
+                // The no-conversion pass finished without success, try again with conversion allowed
+                for (auto &call : second_pass) {
+                    try {
+                        loader_life_support guard{};
+                        result = call.func.impl(call);
+                    } catch (reference_cast_error &) {
+                        result = PYBIND11_TRY_NEXT_OVERLOAD;
+                    }
+
+                    if (result.ptr() != PYBIND11_TRY_NEXT_OVERLOAD) {
+                        // The error reporting logic below expects 'it' to be valid, as it would be
+                        // if we'd encountered this failure in the first-pass loop.
+                        if (!result)
+                            it = &call.func;
+                        break;
+                    }
+                }
+            }
+        } catch (error_already_set &e) {
+            e.restore();
+            return nullptr;
+#ifdef __GLIBCXX__
+        } catch ( abi::__forced_unwind& ) {
+            throw;
+#endif
+        } catch (...) {
+            /* When an exception is caught, give each registered exception
+               translator a chance to translate it to a Python exception
+               in reverse order of registration.
+
+               A translator may choose to do one of the following:
+
+                - catch the exception and call PyErr_SetString or PyErr_SetObject
+                  to set a standard (or custom) Python exception, or
+                - do nothing and let the exception fall through to the next translator, or
+                - delegate translation to the next translator by throwing a new type of exception. */
+
+            auto last_exception = std::current_exception();
+            auto &registered_exception_translators = get_internals().registered_exception_translators;
+            for (auto& translator : registered_exception_translators) {
+                try {
+                    translator(last_exception);
+                } catch (...) {
+                    last_exception = std::current_exception();
+                    continue;
+                }
+                return nullptr;
+            }
+            PyErr_SetString(PyExc_SystemError, "Exception escaped from default exception translator!");
+            return nullptr;
+        }
+
+        auto append_note_if_missing_header_is_suspected = [](std::string &msg) {
+            if (msg.find("std::") != std::string::npos) {
+                msg += "\n\n"
+                       "Did you forget to `#include <pybind11/stl.h>`? Or <pybind11/complex.h>,\n"
+                       "<pybind11/functional.h>, <pybind11/chrono.h>, etc. Some automatic\n"
+                       "conversions are optional and require extra headers to be included\n"
+                       "when compiling your pybind11 module.";
+            }
+        };
+
+        if (result.ptr() == PYBIND11_TRY_NEXT_OVERLOAD) {
+            if (overloads->is_operator)
+                return handle(Py_NotImplemented).inc_ref().ptr();
+
+            std::string msg = std::string(overloads->name) + "(): incompatible " +
+                std::string(overloads->is_constructor ? "constructor" : "function") +
+                " arguments. The following argument types are supported:\n";
+
+            int ctr = 0;
+            for (const function_record *it2 = overloads; it2 != nullptr; it2 = it2->next) {
+                msg += "    "+ std::to_string(++ctr) + ". ";
+
+                bool wrote_sig = false;
+                if (overloads->is_constructor) {
+                    // For a constructor, rewrite `(self: Object, arg0, ...) -> NoneType` as `Object(arg0, ...)`
+                    std::string sig = it2->signature;
+                    size_t start = sig.find('(') + 7; // skip "(self: "
+                    if (start < sig.size()) {
+                        // End at the , for the next argument
+                        size_t end = sig.find(", "), next = end + 2;
+                        size_t ret = sig.rfind(" -> ");
+                        // Or the ), if there is no comma:
+                        if (end >= sig.size()) next = end = sig.find(')');
+                        if (start < end && next < sig.size()) {
+                            msg.append(sig, start, end - start);
+                            msg += '(';
+                            msg.append(sig, next, ret - next);
+                            wrote_sig = true;
+                        }
+                    }
+                }
+                if (!wrote_sig) msg += it2->signature;
+
+                msg += "\n";
+            }
+            msg += "\nInvoked with: ";
+            auto args_ = reinterpret_borrow<tuple>(args_in);
+            bool some_args = false;
+            for (size_t ti = overloads->is_constructor ? 1 : 0; ti < args_.size(); ++ti) {
+                if (!some_args) some_args = true;
+                else msg += ", ";
+                try {
+                    msg += pybind11::repr(args_[ti]);
+                } catch (const error_already_set&) {
+                    msg += "<repr raised Error>";
+                }
+            }
+            if (kwargs_in) {
+                auto kwargs = reinterpret_borrow<dict>(kwargs_in);
+                if (!kwargs.empty()) {
+                    if (some_args) msg += "; ";
+                    msg += "kwargs: ";
+                    bool first = true;
+                    for (auto kwarg : kwargs) {
+                        if (first) first = false;
+                        else msg += ", ";
+                        msg += pybind11::str("{}=").format(kwarg.first);
+                        try {
+                            msg += pybind11::repr(kwarg.second);
+                        } catch (const error_already_set&) {
+                            msg += "<repr raised Error>";
+                        }
+                    }
+                }
+            }
+
+            append_note_if_missing_header_is_suspected(msg);
+            PyErr_SetString(PyExc_TypeError, msg.c_str());
+            return nullptr;
+        } else if (!result) {
+            std::string msg = "Unable to convert function return value to a "
+                              "Python type! The signature was\n\t";
+            msg += it->signature;
+            append_note_if_missing_header_is_suspected(msg);
+            PyErr_SetString(PyExc_TypeError, msg.c_str());
+            return nullptr;
+        } else {
+            if (overloads->is_constructor && !self_value_and_holder.holder_constructed()) {
+                auto *pi = reinterpret_cast<instance *>(parent.ptr());
+                self_value_and_holder.type->init_instance(pi, nullptr);
+            }
+            return result.ptr();
+        }
+    }
+};
+
+/// Wrapper for Python extension modules
+class module_ : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(module_, object, PyModule_Check)
+
+    /// Create a new top-level Python module with the given name and docstring
+    PYBIND11_DEPRECATED("Use PYBIND11_MODULE or module_::create_extension_module instead")
+    explicit module_(const char *name, const char *doc = nullptr) {
+#if PY_MAJOR_VERSION >= 3
+        *this = create_extension_module(name, doc, new PyModuleDef());
+#else
+        *this = create_extension_module(name, doc, nullptr);
+#endif
+    }
+
+    /** \rst
+        Create Python binding for a new function within the module scope. ``Func``
+        can be a plain C++ function, a function pointer, or a lambda function. For
+        details on the ``Extra&& ... extra`` argument, see section :ref:`extras`.
+    \endrst */
+    template <typename Func, typename... Extra>
+    module_ &def(const char *name_, Func &&f, const Extra& ... extra) {
+        cpp_function func(std::forward<Func>(f), name(name_), scope(*this),
+                          sibling(getattr(*this, name_, none())), extra...);
+        // NB: allow overwriting here because cpp_function sets up a chain with the intention of
+        // overwriting (and has already checked internally that it isn't overwriting non-functions).
+        add_object(name_, func, true /* overwrite */);
+        return *this;
+    }
+
+    /** \rst
+        Create and return a new Python submodule with the given name and docstring.
+        This also works recursively, i.e.
+
+        .. code-block:: cpp
+
+            py::module_ m("example", "pybind11 example plugin");
+            py::module_ m2 = m.def_submodule("sub", "A submodule of 'example'");
+            py::module_ m3 = m2.def_submodule("subsub", "A submodule of 'example.sub'");
+    \endrst */
+    module_ def_submodule(const char *name, const char *doc = nullptr) {
+        std::string full_name = std::string(PyModule_GetName(m_ptr))
+            + std::string(".") + std::string(name);
+        auto result = reinterpret_borrow<module_>(PyImport_AddModule(full_name.c_str()));
+        if (doc && options::show_user_defined_docstrings())
+            result.attr("__doc__") = pybind11::str(doc);
+        attr(name) = result;
+        return result;
+    }
+
+    /// Import and return a module or throws `error_already_set`.
+    static module_ import(const char *name) {
+        PyObject *obj = PyImport_ImportModule(name);
+        if (!obj)
+            throw error_already_set();
+        return reinterpret_steal<module_>(obj);
+    }
+
+    /// Reload the module or throws `error_already_set`.
+    void reload() {
+        PyObject *obj = PyImport_ReloadModule(ptr());
+        if (!obj)
+            throw error_already_set();
+        *this = reinterpret_steal<module_>(obj);
+    }
+
+    /** \rst
+        Adds an object to the module using the given name.  Throws if an object with the given name
+        already exists.
+
+        ``overwrite`` should almost always be false: attempting to overwrite objects that pybind11 has
+        established will, in most cases, break things.
+    \endrst */
+    PYBIND11_NOINLINE void add_object(const char *name, handle obj, bool overwrite = false) {
+        if (!overwrite && hasattr(*this, name))
+            pybind11_fail("Error during initialization: multiple incompatible definitions with name \"" +
+                    std::string(name) + "\"");
+
+        PyModule_AddObject(ptr(), name, obj.inc_ref().ptr() /* steals a reference */);
+    }
+
+#if PY_MAJOR_VERSION >= 3
+    using module_def = PyModuleDef;
+#else
+    struct module_def {};
+#endif
+
+    /** \rst
+        Create a new top-level module that can be used as the main module of a C extension.
+
+        For Python 3, ``def`` should point to a staticly allocated module_def.
+        For Python 2, ``def`` can be a nullptr and is completely ignored.
+    \endrst */
+    static module_ create_extension_module(const char *name, const char *doc, module_def *def) {
+#if PY_MAJOR_VERSION >= 3
+        // module_def is PyModuleDef
+        def = new (def) PyModuleDef {  // Placement new (not an allocation).
+            /* m_base */     PyModuleDef_HEAD_INIT,
+            /* m_name */     name,
+            /* m_doc */      options::show_user_defined_docstrings() ? doc : nullptr,
+            /* m_size */     -1,
+            /* m_methods */  nullptr,
+            /* m_slots */    nullptr,
+            /* m_traverse */ nullptr,
+            /* m_clear */    nullptr,
+            /* m_free */     nullptr
+        };
+        auto m = PyModule_Create(def);
+#else
+        // Ignore module_def *def; only necessary for Python 3
+        (void) def;
+        auto m = Py_InitModule3(name, nullptr, options::show_user_defined_docstrings() ? doc : nullptr);
+#endif
+        if (m == nullptr) {
+            if (PyErr_Occurred())
+                throw error_already_set();
+            pybind11_fail("Internal error in module_::create_extension_module()");
+        }
+        // TODO: Sould be reinterpret_steal for Python 3, but Python also steals it again when returned from PyInit_...
+        //       For Python 2, reinterpret_borrow is correct.
+        return reinterpret_borrow<module_>(m);
+    }
+};
+
+// When inside a namespace (or anywhere as long as it's not the first item on a line),
+// C++20 allows "module" to be used. This is provided for backward compatibility, and for
+// simplicity, if someone wants to use py::module for example, that is perfectly safe.
+using module = module_;
+
+/// \ingroup python_builtins
+/// Return a dictionary representing the global variables in the current execution frame,
+/// or ``__main__.__dict__`` if there is no frame (usually when the interpreter is embedded).
+inline dict globals() {
+    PyObject *p = PyEval_GetGlobals();
+    return reinterpret_borrow<dict>(p ? p : module_::import("__main__").attr("__dict__").ptr());
+}
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+/// Generic support for creating new Python heap types
+class generic_type : public object {
+    template <typename...> friend class class_;
+public:
+    PYBIND11_OBJECT_DEFAULT(generic_type, object, PyType_Check)
+protected:
+    void initialize(const type_record &rec) {
+        if (rec.scope && hasattr(rec.scope, "__dict__") && rec.scope.attr("__dict__").contains(rec.name))
+            pybind11_fail("generic_type: cannot initialize type \"" + std::string(rec.name) +
+                          "\": an object with that name is already defined");
+
+        if (rec.module_local ? get_local_type_info(*rec.type) : get_global_type_info(*rec.type))
+            pybind11_fail("generic_type: type \"" + std::string(rec.name) +
+                          "\" is already registered!");
+
+        m_ptr = make_new_python_type(rec);
+
+        /* Register supplemental type information in C++ dict */
+        auto *tinfo = new detail::type_info();
+        tinfo->type = (PyTypeObject *) m_ptr;
+        tinfo->cpptype = rec.type;
+        tinfo->type_size = rec.type_size;
+        tinfo->type_align = rec.type_align;
+        tinfo->operator_new = rec.operator_new;
+        tinfo->holder_size_in_ptrs = size_in_ptrs(rec.holder_size);
+        tinfo->init_instance = rec.init_instance;
+        tinfo->dealloc = rec.dealloc;
+        tinfo->simple_type = true;
+        tinfo->simple_ancestors = true;
+        tinfo->default_holder = rec.default_holder;
+        tinfo->module_local = rec.module_local;
+
+        auto &internals = get_internals();
+        auto tindex = std::type_index(*rec.type);
+        tinfo->direct_conversions = &internals.direct_conversions[tindex];
+        if (rec.module_local)
+            registered_local_types_cpp()[tindex] = tinfo;
+        else
+            internals.registered_types_cpp[tindex] = tinfo;
+        internals.registered_types_py[(PyTypeObject *) m_ptr] = { tinfo };
+
+        if (rec.bases.size() > 1 || rec.multiple_inheritance) {
+            mark_parents_nonsimple(tinfo->type);
+            tinfo->simple_ancestors = false;
+        }
+        else if (rec.bases.size() == 1) {
+            auto parent_tinfo = get_type_info((PyTypeObject *) rec.bases[0].ptr());
+            tinfo->simple_ancestors = parent_tinfo->simple_ancestors;
+        }
+
+        if (rec.module_local) {
+            // Stash the local typeinfo and loader so that external modules can access it.
+            tinfo->module_local_load = &type_caster_generic::local_load;
+            setattr(m_ptr, PYBIND11_MODULE_LOCAL_ID, capsule(tinfo));
+        }
+    }
+
+    /// Helper function which tags all parents of a type using mult. inheritance
+    void mark_parents_nonsimple(PyTypeObject *value) {
+        auto t = reinterpret_borrow<tuple>(value->tp_bases);
+        for (handle h : t) {
+            auto tinfo2 = get_type_info((PyTypeObject *) h.ptr());
+            if (tinfo2)
+                tinfo2->simple_type = false;
+            mark_parents_nonsimple((PyTypeObject *) h.ptr());
+        }
+    }
+
+    void install_buffer_funcs(
+            buffer_info *(*get_buffer)(PyObject *, void *),
+            void *get_buffer_data) {
+        auto *type = (PyHeapTypeObject*) m_ptr;
+        auto tinfo = detail::get_type_info(&type->ht_type);
+
+        if (!type->ht_type.tp_as_buffer)
+            pybind11_fail(
+                "To be able to register buffer protocol support for the type '" +
+                get_fully_qualified_tp_name(tinfo->type) +
+                "' the associated class<>(..) invocation must "
+                "include the pybind11::buffer_protocol() annotation!");
+
+        tinfo->get_buffer = get_buffer;
+        tinfo->get_buffer_data = get_buffer_data;
+    }
+
+    // rec_func must be set for either fget or fset.
+    void def_property_static_impl(const char *name,
+                                  handle fget, handle fset,
+                                  detail::function_record *rec_func) {
+        const auto is_static = rec_func && !(rec_func->is_method && rec_func->scope);
+        const auto has_doc = rec_func && rec_func->doc && pybind11::options::show_user_defined_docstrings();
+        auto property = handle((PyObject *) (is_static ? get_internals().static_property_type
+                                                       : &PyProperty_Type));
+        attr(name) = property(fget.ptr() ? fget : none(),
+                              fset.ptr() ? fset : none(),
+                              /*deleter*/none(),
+                              pybind11::str(has_doc ? rec_func->doc : ""));
+    }
+};
+
+/// Set the pointer to operator new if it exists. The cast is needed because it can be overloaded.
+template <typename T, typename = void_t<decltype(static_cast<void *(*)(size_t)>(T::operator new))>>
+void set_operator_new(type_record *r) { r->operator_new = &T::operator new; }
+
+template <typename> void set_operator_new(...) { }
+
+template <typename T, typename SFINAE = void> struct has_operator_delete : std::false_type { };
+template <typename T> struct has_operator_delete<T, void_t<decltype(static_cast<void (*)(void *)>(T::operator delete))>>
+    : std::true_type { };
+template <typename T, typename SFINAE = void> struct has_operator_delete_size : std::false_type { };
+template <typename T> struct has_operator_delete_size<T, void_t<decltype(static_cast<void (*)(void *, size_t)>(T::operator delete))>>
+    : std::true_type { };
+/// Call class-specific delete if it exists or global otherwise. Can also be an overload set.
+template <typename T, enable_if_t<has_operator_delete<T>::value, int> = 0>
+void call_operator_delete(T *p, size_t, size_t) { T::operator delete(p); }
+template <typename T, enable_if_t<!has_operator_delete<T>::value && has_operator_delete_size<T>::value, int> = 0>
+void call_operator_delete(T *p, size_t s, size_t) { T::operator delete(p, s); }
+
+inline void call_operator_delete(void *p, size_t s, size_t a) {
+    (void)s; (void)a;
+    #if defined(__cpp_aligned_new) && (!defined(_MSC_VER) || _MSC_VER >= 1912)
+        if (a > __STDCPP_DEFAULT_NEW_ALIGNMENT__) {
+            #ifdef __cpp_sized_deallocation
+                ::operator delete(p, s, std::align_val_t(a));
+            #else
+                ::operator delete(p, std::align_val_t(a));
+            #endif
+            return;
+        }
+    #endif
+    #ifdef __cpp_sized_deallocation
+        ::operator delete(p, s);
+    #else
+        ::operator delete(p);
+    #endif
+}
+
+inline void add_class_method(object& cls, const char *name_, const cpp_function &cf) {
+    cls.attr(cf.name()) = cf;
+    if (strcmp(name_, "__eq__") == 0 && !cls.attr("__dict__").contains("__hash__")) {
+      cls.attr("__hash__") = none();
+    }
+}
+
+PYBIND11_NAMESPACE_END(detail)
+
+/// Given a pointer to a member function, cast it to its `Derived` version.
+/// Forward everything else unchanged.
+template <typename /*Derived*/, typename F>
+auto method_adaptor(F &&f) -> decltype(std::forward<F>(f)) { return std::forward<F>(f); }
+
+template <typename Derived, typename Return, typename Class, typename... Args>
+auto method_adaptor(Return (Class::*pmf)(Args...)) -> Return (Derived::*)(Args...) {
+    static_assert(detail::is_accessible_base_of<Class, Derived>::value,
+        "Cannot bind an inaccessible base class method; use a lambda definition instead");
+    return pmf;
+}
+
+template <typename Derived, typename Return, typename Class, typename... Args>
+auto method_adaptor(Return (Class::*pmf)(Args...) const) -> Return (Derived::*)(Args...) const {
+    static_assert(detail::is_accessible_base_of<Class, Derived>::value,
+        "Cannot bind an inaccessible base class method; use a lambda definition instead");
+    return pmf;
+}
+
+template <typename type_, typename... options>
+class class_ : public detail::generic_type {
+    template <typename T> using is_holder = detail::is_holder_type<type_, T>;
+    template <typename T> using is_subtype = detail::is_strict_base_of<type_, T>;
+    template <typename T> using is_base = detail::is_strict_base_of<T, type_>;
+    // struct instead of using here to help MSVC:
+    template <typename T> struct is_valid_class_option :
+        detail::any_of<is_holder<T>, is_subtype<T>, is_base<T>> {};
+
+public:
+    using type = type_;
+    using type_alias = detail::exactly_one_t<is_subtype, void, options...>;
+    constexpr static bool has_alias = !std::is_void<type_alias>::value;
+    using holder_type = detail::exactly_one_t<is_holder, std::unique_ptr<type>, options...>;
+
+    static_assert(detail::all_of<is_valid_class_option<options>...>::value,
+            "Unknown/invalid class_ template parameters provided");
+
+    static_assert(!has_alias || std::is_polymorphic<type>::value,
+            "Cannot use an alias class with a non-polymorphic type");
+
+    PYBIND11_OBJECT(class_, generic_type, PyType_Check)
+
+    template <typename... Extra>
+    class_(handle scope, const char *name, const Extra &... extra) {
+        using namespace detail;
+
+        // MI can only be specified via class_ template options, not constructor parameters
+        static_assert(
+            none_of<is_pyobject<Extra>...>::value || // no base class arguments, or:
+            (   constexpr_sum(is_pyobject<Extra>::value...) == 1 && // Exactly one base
+                constexpr_sum(is_base<options>::value...)   == 0 && // no template option bases
+                none_of<std::is_same<multiple_inheritance, Extra>...>::value), // no multiple_inheritance attr
+            "Error: multiple inheritance bases must be specified via class_ template options");
+
+        type_record record;
+        record.scope = scope;
+        record.name = name;
+        record.type = &typeid(type);
+        record.type_size = sizeof(conditional_t<has_alias, type_alias, type>);
+        record.type_align = alignof(conditional_t<has_alias, type_alias, type>&);
+        record.holder_size = sizeof(holder_type);
+        record.init_instance = init_instance;
+        record.dealloc = dealloc;
+        record.default_holder = detail::is_instantiation<std::unique_ptr, holder_type>::value;
+
+        set_operator_new<type>(&record);
+
+        /* Register base classes specified via template arguments to class_, if any */
+        PYBIND11_EXPAND_SIDE_EFFECTS(add_base<options>(record));
+
+        /* Process optional arguments, if any */
+        process_attributes<Extra...>::init(extra..., &record);
+
+        generic_type::initialize(record);
+
+        if (has_alias) {
+            auto &instances = record.module_local ? registered_local_types_cpp() : get_internals().registered_types_cpp;
+            instances[std::type_index(typeid(type_alias))] = instances[std::type_index(typeid(type))];
+        }
+    }
+
+    template <typename Base, detail::enable_if_t<is_base<Base>::value, int> = 0>
+    static void add_base(detail::type_record &rec) {
+        rec.add_base(typeid(Base), [](void *src) -> void * {
+            return static_cast<Base *>(reinterpret_cast<type *>(src));
+        });
+    }
+
+    template <typename Base, detail::enable_if_t<!is_base<Base>::value, int> = 0>
+    static void add_base(detail::type_record &) { }
+
+    template <typename Func, typename... Extra>
+    class_ &def(const char *name_, Func&& f, const Extra&... extra) {
+        cpp_function cf(method_adaptor<type>(std::forward<Func>(f)), name(name_), is_method(*this),
+                        sibling(getattr(*this, name_, none())), extra...);
+        add_class_method(*this, name_, cf);
+        return *this;
+    }
+
+    template <typename Func, typename... Extra> class_ &
+    def_static(const char *name_, Func &&f, const Extra&... extra) {
+        static_assert(!std::is_member_function_pointer<Func>::value,
+                "def_static(...) called with a non-static member function pointer");
+        cpp_function cf(std::forward<Func>(f), name(name_), scope(*this),
+                        sibling(getattr(*this, name_, none())), extra...);
+        attr(cf.name()) = staticmethod(cf);
+        return *this;
+    }
+
+    template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
+    class_ &def(const detail::op_<id, ot, L, R> &op, const Extra&... extra) {
+        op.execute(*this, extra...);
+        return *this;
+    }
+
+    template <detail::op_id id, detail::op_type ot, typename L, typename R, typename... Extra>
+    class_ & def_cast(const detail::op_<id, ot, L, R> &op, const Extra&... extra) {
+        op.execute_cast(*this, extra...);
+        return *this;
+    }
+
+    template <typename... Args, typename... Extra>
+    class_ &def(const detail::initimpl::constructor<Args...> &init, const Extra&... extra) {
+        init.execute(*this, extra...);
+        return *this;
+    }
+
+    template <typename... Args, typename... Extra>
+    class_ &def(const detail::initimpl::alias_constructor<Args...> &init, const Extra&... extra) {
+        init.execute(*this, extra...);
+        return *this;
+    }
+
+    template <typename... Args, typename... Extra>
+    class_ &def(detail::initimpl::factory<Args...> &&init, const Extra&... extra) {
+        std::move(init).execute(*this, extra...);
+        return *this;
+    }
+
+    template <typename... Args, typename... Extra>
+    class_ &def(detail::initimpl::pickle_factory<Args...> &&pf, const Extra &...extra) {
+        std::move(pf).execute(*this, extra...);
+        return *this;
+    }
+
+    template <typename Func> class_& def_buffer(Func &&func) {
+        struct capture { Func func; };
+        auto *ptr = new capture { std::forward<Func>(func) };
+        install_buffer_funcs([](PyObject *obj, void *ptr) -> buffer_info* {
+            detail::make_caster<type> caster;
+            if (!caster.load(obj, false))
+                return nullptr;
+            return new buffer_info(((capture *) ptr)->func(caster));
+        }, ptr);
+        return *this;
+    }
+
+    template <typename Return, typename Class, typename... Args>
+    class_ &def_buffer(Return (Class::*func)(Args...)) {
+        return def_buffer([func] (type &obj) { return (obj.*func)(); });
+    }
+
+    template <typename Return, typename Class, typename... Args>
+    class_ &def_buffer(Return (Class::*func)(Args...) const) {
+        return def_buffer([func] (const type &obj) { return (obj.*func)(); });
+    }
+
+    template <typename C, typename D, typename... Extra>
+    class_ &def_readwrite(const char *name, D C::*pm, const Extra&... extra) {
+        static_assert(std::is_same<C, type>::value || std::is_base_of<C, type>::value, "def_readwrite() requires a class member (or base class member)");
+        cpp_function fget([pm](const type &c) -> const D &{ return c.*pm; }, is_method(*this)),
+                     fset([pm](type &c, const D &value) { c.*pm = value; }, is_method(*this));
+        def_property(name, fget, fset, return_value_policy::reference_internal, extra...);
+        return *this;
+    }
+
+    template <typename C, typename D, typename... Extra>
+    class_ &def_readonly(const char *name, const D C::*pm, const Extra& ...extra) {
+        static_assert(std::is_same<C, type>::value || std::is_base_of<C, type>::value, "def_readonly() requires a class member (or base class member)");
+        cpp_function fget([pm](const type &c) -> const D &{ return c.*pm; }, is_method(*this));
+        def_property_readonly(name, fget, return_value_policy::reference_internal, extra...);
+        return *this;
+    }
+
+    template <typename D, typename... Extra>
+    class_ &def_readwrite_static(const char *name, D *pm, const Extra& ...extra) {
+        cpp_function fget([pm](object) -> const D &{ return *pm; }, scope(*this)),
+                     fset([pm](object, const D &value) { *pm = value; }, scope(*this));
+        def_property_static(name, fget, fset, return_value_policy::reference, extra...);
+        return *this;
+    }
+
+    template <typename D, typename... Extra>
+    class_ &def_readonly_static(const char *name, const D *pm, const Extra& ...extra) {
+        cpp_function fget([pm](object) -> const D &{ return *pm; }, scope(*this));
+        def_property_readonly_static(name, fget, return_value_policy::reference, extra...);
+        return *this;
+    }
+
+    /// Uses return_value_policy::reference_internal by default
+    template <typename Getter, typename... Extra>
+    class_ &def_property_readonly(const char *name, const Getter &fget, const Extra& ...extra) {
+        return def_property_readonly(name, cpp_function(method_adaptor<type>(fget)),
+                                     return_value_policy::reference_internal, extra...);
+    }
+
+    /// Uses cpp_function's return_value_policy by default
+    template <typename... Extra>
+    class_ &def_property_readonly(const char *name, const cpp_function &fget, const Extra& ...extra) {
+        return def_property(name, fget, nullptr, extra...);
+    }
+
+    /// Uses return_value_policy::reference by default
+    template <typename Getter, typename... Extra>
+    class_ &def_property_readonly_static(const char *name, const Getter &fget, const Extra& ...extra) {
+        return def_property_readonly_static(name, cpp_function(fget), return_value_policy::reference, extra...);
+    }
+
+    /// Uses cpp_function's return_value_policy by default
+    template <typename... Extra>
+    class_ &def_property_readonly_static(const char *name, const cpp_function &fget, const Extra& ...extra) {
+        return def_property_static(name, fget, nullptr, extra...);
+    }
+
+    /// Uses return_value_policy::reference_internal by default
+    template <typename Getter, typename Setter, typename... Extra>
+    class_ &def_property(const char *name, const Getter &fget, const Setter &fset, const Extra& ...extra) {
+        return def_property(name, fget, cpp_function(method_adaptor<type>(fset)), extra...);
+    }
+    template <typename Getter, typename... Extra>
+    class_ &def_property(const char *name, const Getter &fget, const cpp_function &fset, const Extra& ...extra) {
+        return def_property(name, cpp_function(method_adaptor<type>(fget)), fset,
+                            return_value_policy::reference_internal, extra...);
+    }
+
+    /// Uses cpp_function's return_value_policy by default
+    template <typename... Extra>
+    class_ &def_property(const char *name, const cpp_function &fget, const cpp_function &fset, const Extra& ...extra) {
+        return def_property_static(name, fget, fset, is_method(*this), extra...);
+    }
+
+    /// Uses return_value_policy::reference by default
+    template <typename Getter, typename... Extra>
+    class_ &def_property_static(const char *name, const Getter &fget, const cpp_function &fset, const Extra& ...extra) {
+        return def_property_static(name, cpp_function(fget), fset, return_value_policy::reference, extra...);
+    }
+
+    /// Uses cpp_function's return_value_policy by default
+    template <typename... Extra>
+    class_ &def_property_static(const char *name, const cpp_function &fget, const cpp_function &fset, const Extra& ...extra) {
+        static_assert( 0 == detail::constexpr_sum(std::is_base_of<arg, Extra>::value...),
+                      "Argument annotations are not allowed for properties");
+        auto rec_fget = get_function_record(fget), rec_fset = get_function_record(fset);
+        auto *rec_active = rec_fget;
+        if (rec_fget) {
+           char *doc_prev = rec_fget->doc; /* 'extra' field may include a property-specific documentation string */
+           detail::process_attributes<Extra...>::init(extra..., rec_fget);
+           if (rec_fget->doc && rec_fget->doc != doc_prev) {
+              free(doc_prev);
+              rec_fget->doc = strdup(rec_fget->doc);
+           }
+        }
+        if (rec_fset) {
+            char *doc_prev = rec_fset->doc;
+            detail::process_attributes<Extra...>::init(extra..., rec_fset);
+            if (rec_fset->doc && rec_fset->doc != doc_prev) {
+                free(doc_prev);
+                rec_fset->doc = strdup(rec_fset->doc);
+            }
+            if (! rec_active) rec_active = rec_fset;
+        }
+        def_property_static_impl(name, fget, fset, rec_active);
+        return *this;
+    }
+
+private:
+    /// Initialize holder object, variant 1: object derives from enable_shared_from_this
+    template <typename T>
+    static void init_holder(detail::instance *inst, detail::value_and_holder &v_h,
+            const holder_type * /* unused */, const std::enable_shared_from_this<T> * /* dummy */) {
+        try {
+            auto sh = std::dynamic_pointer_cast<typename holder_type::element_type>(
+                    v_h.value_ptr<type>()->shared_from_this());
+            if (sh) {
+                new (std::addressof(v_h.holder<holder_type>())) holder_type(std::move(sh));
+                v_h.set_holder_constructed();
+            }
+        } catch (const std::bad_weak_ptr &) {}
+
+        if (!v_h.holder_constructed() && inst->owned) {
+            new (std::addressof(v_h.holder<holder_type>())) holder_type(v_h.value_ptr<type>());
+            v_h.set_holder_constructed();
+        }
+    }
+
+    static void init_holder_from_existing(const detail::value_and_holder &v_h,
+            const holder_type *holder_ptr, std::true_type /*is_copy_constructible*/) {
+        new (std::addressof(v_h.holder<holder_type>())) holder_type(*reinterpret_cast<const holder_type *>(holder_ptr));
+    }
+
+    static void init_holder_from_existing(const detail::value_and_holder &v_h,
+            const holder_type *holder_ptr, std::false_type /*is_copy_constructible*/) {
+        new (std::addressof(v_h.holder<holder_type>())) holder_type(std::move(*const_cast<holder_type *>(holder_ptr)));
+    }
+
+    /// Initialize holder object, variant 2: try to construct from existing holder object, if possible
+    static void init_holder(detail::instance *inst, detail::value_and_holder &v_h,
+            const holder_type *holder_ptr, const void * /* dummy -- not enable_shared_from_this<T>) */) {
+        if (holder_ptr) {
+            init_holder_from_existing(v_h, holder_ptr, std::is_copy_constructible<holder_type>());
+            v_h.set_holder_constructed();
+        } else if (inst->owned || detail::always_construct_holder<holder_type>::value) {
+            new (std::addressof(v_h.holder<holder_type>())) holder_type(v_h.value_ptr<type>());
+            v_h.set_holder_constructed();
+        }
+    }
+
+    /// Performs instance initialization including constructing a holder and registering the known
+    /// instance.  Should be called as soon as the `type` value_ptr is set for an instance.  Takes an
+    /// optional pointer to an existing holder to use; if not specified and the instance is
+    /// `.owned`, a new holder will be constructed to manage the value pointer.
+    static void init_instance(detail::instance *inst, const void *holder_ptr) {
+        auto v_h = inst->get_value_and_holder(detail::get_type_info(typeid(type)));
+        if (!v_h.instance_registered()) {
+            register_instance(inst, v_h.value_ptr(), v_h.type);
+            v_h.set_instance_registered();
+        }
+        init_holder(inst, v_h, (const holder_type *) holder_ptr, v_h.value_ptr<type>());
+    }
+
+    /// Deallocates an instance; via holder, if constructed; otherwise via operator delete.
+    static void dealloc(detail::value_and_holder &v_h) {
+        // We could be deallocating because we are cleaning up after a Python exception.
+        // If so, the Python error indicator will be set. We need to clear that before
+        // running the destructor, in case the destructor code calls more Python.
+        // If we don't, the Python API will exit with an exception, and pybind11 will
+        // throw error_already_set from the C++ destructor which is forbidden and triggers
+        // std::terminate().
+        error_scope scope;
+        if (v_h.holder_constructed()) {
+            v_h.holder<holder_type>().~holder_type();
+            v_h.set_holder_constructed(false);
+        }
+        else {
+            detail::call_operator_delete(v_h.value_ptr<type>(),
+                v_h.type->type_size,
+                v_h.type->type_align
+            );
+        }
+        v_h.value_ptr() = nullptr;
+    }
+
+    static detail::function_record *get_function_record(handle h) {
+        h = detail::get_function(h);
+        return h ? (detail::function_record *) reinterpret_borrow<capsule>(PyCFunction_GET_SELF(h.ptr()))
+                 : nullptr;
+    }
+};
+
+/// Binds an existing constructor taking arguments Args...
+template <typename... Args> detail::initimpl::constructor<Args...> init() { return {}; }
+/// Like `init<Args...>()`, but the instance is always constructed through the alias class (even
+/// when not inheriting on the Python side).
+template <typename... Args> detail::initimpl::alias_constructor<Args...> init_alias() { return {}; }
+
+/// Binds a factory function as a constructor
+template <typename Func, typename Ret = detail::initimpl::factory<Func>>
+Ret init(Func &&f) { return {std::forward<Func>(f)}; }
+
+/// Dual-argument factory function: the first function is called when no alias is needed, the second
+/// when an alias is needed (i.e. due to python-side inheritance).  Arguments must be identical.
+template <typename CFunc, typename AFunc, typename Ret = detail::initimpl::factory<CFunc, AFunc>>
+Ret init(CFunc &&c, AFunc &&a) {
+    return {std::forward<CFunc>(c), std::forward<AFunc>(a)};
+}
+
+/// Binds pickling functions `__getstate__` and `__setstate__` and ensures that the type
+/// returned by `__getstate__` is the same as the argument accepted by `__setstate__`.
+template <typename GetState, typename SetState>
+detail::initimpl::pickle_factory<GetState, SetState> pickle(GetState &&g, SetState &&s) {
+    return {std::forward<GetState>(g), std::forward<SetState>(s)};
+}
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+inline str enum_name(handle arg) {
+    dict entries = arg.get_type().attr("__entries");
+    for (auto kv : entries) {
+        if (handle(kv.second[int_(0)]).equal(arg))
+            return pybind11::str(kv.first);
+    }
+    return "???";
+}
+
+struct enum_base {
+    enum_base(handle base, handle parent) : m_base(base), m_parent(parent) { }
+
+    PYBIND11_NOINLINE void init(bool is_arithmetic, bool is_convertible) {
+        m_base.attr("__entries") = dict();
+        auto property = handle((PyObject *) &PyProperty_Type);
+        auto static_property = handle((PyObject *) get_internals().static_property_type);
+
+        m_base.attr("__repr__") = cpp_function(
+            [](object arg) -> str {
+                handle type = type::handle_of(arg);
+                object type_name = type.attr("__name__");
+                return pybind11::str("<{}.{}: {}>").format(type_name, enum_name(arg), int_(arg));
+            }, name("__repr__"), is_method(m_base)
+        );
+
+        m_base.attr("name") = property(cpp_function(&enum_name, name("name"), is_method(m_base)));
+
+        m_base.attr("__str__") = cpp_function(
+            [](handle arg) -> str {
+                object type_name = type::handle_of(arg).attr("__name__");
+                return pybind11::str("{}.{}").format(type_name, enum_name(arg));
+            }, name("name"), is_method(m_base)
+        );
+
+        m_base.attr("__doc__") = static_property(cpp_function(
+            [](handle arg) -> std::string {
+                std::string docstring;
+                dict entries = arg.attr("__entries");
+                if (((PyTypeObject *) arg.ptr())->tp_doc)
+                    docstring += std::string(((PyTypeObject *) arg.ptr())->tp_doc) + "\n\n";
+                docstring += "Members:";
+                for (auto kv : entries) {
+                    auto key = std::string(pybind11::str(kv.first));
+                    auto comment = kv.second[int_(1)];
+                    docstring += "\n\n  " + key;
+                    if (!comment.is_none())
+                        docstring += " : " + (std::string) pybind11::str(comment);
+                }
+                return docstring;
+            }, name("__doc__")
+        ), none(), none(), "");
+
+        m_base.attr("__members__") = static_property(cpp_function(
+            [](handle arg) -> dict {
+                dict entries = arg.attr("__entries"), m;
+                for (auto kv : entries)
+                    m[kv.first] = kv.second[int_(0)];
+                return m;
+            }, name("__members__")), none(), none(), ""
+        );
+
+        #define PYBIND11_ENUM_OP_STRICT(op, expr, strict_behavior)                     \
+            m_base.attr(op) = cpp_function(                                            \
+                [](object a, object b) {                                               \
+                    if (!type::handle_of(a).is(type::handle_of(b)))                    \
+                        strict_behavior;                                               \
+                    return expr;                                                       \
+                },                                                                     \
+                name(op), is_method(m_base))
+
+        #define PYBIND11_ENUM_OP_CONV(op, expr)                                        \
+            m_base.attr(op) = cpp_function(                                            \
+                [](object a_, object b_) {                                             \
+                    int_ a(a_), b(b_);                                                 \
+                    return expr;                                                       \
+                },                                                                     \
+                name(op), is_method(m_base))
+
+        #define PYBIND11_ENUM_OP_CONV_LHS(op, expr)                                    \
+            m_base.attr(op) = cpp_function(                                            \
+                [](object a_, object b) {                                              \
+                    int_ a(a_);                                                        \
+                    return expr;                                                       \
+                },                                                                     \
+                name(op), is_method(m_base))
+
+        if (is_convertible) {
+            PYBIND11_ENUM_OP_CONV_LHS("__eq__", !b.is_none() &&  a.equal(b));
+            PYBIND11_ENUM_OP_CONV_LHS("__ne__",  b.is_none() || !a.equal(b));
+
+            if (is_arithmetic) {
+                PYBIND11_ENUM_OP_CONV("__lt__",   a <  b);
+                PYBIND11_ENUM_OP_CONV("__gt__",   a >  b);
+                PYBIND11_ENUM_OP_CONV("__le__",   a <= b);
+                PYBIND11_ENUM_OP_CONV("__ge__",   a >= b);
+                PYBIND11_ENUM_OP_CONV("__and__",  a &  b);
+                PYBIND11_ENUM_OP_CONV("__rand__", a &  b);
+                PYBIND11_ENUM_OP_CONV("__or__",   a |  b);
+                PYBIND11_ENUM_OP_CONV("__ror__",  a |  b);
+                PYBIND11_ENUM_OP_CONV("__xor__",  a ^  b);
+                PYBIND11_ENUM_OP_CONV("__rxor__", a ^  b);
+                m_base.attr("__invert__") = cpp_function(
+                    [](object arg) { return ~(int_(arg)); }, name("__invert__"), is_method(m_base));
+            }
+        } else {
+            PYBIND11_ENUM_OP_STRICT("__eq__",  int_(a).equal(int_(b)), return false);
+            PYBIND11_ENUM_OP_STRICT("__ne__", !int_(a).equal(int_(b)), return true);
+
+            if (is_arithmetic) {
+                #define PYBIND11_THROW throw type_error("Expected an enumeration of matching type!");
+                PYBIND11_ENUM_OP_STRICT("__lt__", int_(a) <  int_(b), PYBIND11_THROW);
+                PYBIND11_ENUM_OP_STRICT("__gt__", int_(a) >  int_(b), PYBIND11_THROW);
+                PYBIND11_ENUM_OP_STRICT("__le__", int_(a) <= int_(b), PYBIND11_THROW);
+                PYBIND11_ENUM_OP_STRICT("__ge__", int_(a) >= int_(b), PYBIND11_THROW);
+                #undef PYBIND11_THROW
+            }
+        }
+
+        #undef PYBIND11_ENUM_OP_CONV_LHS
+        #undef PYBIND11_ENUM_OP_CONV
+        #undef PYBIND11_ENUM_OP_STRICT
+
+        m_base.attr("__getstate__") = cpp_function(
+            [](object arg) { return int_(arg); }, name("__getstate__"), is_method(m_base));
+
+        m_base.attr("__hash__") = cpp_function(
+            [](object arg) { return int_(arg); }, name("__hash__"), is_method(m_base));
+    }
+
+    PYBIND11_NOINLINE void value(char const* name_, object value, const char *doc = nullptr) {
+        dict entries = m_base.attr("__entries");
+        str name(name_);
+        if (entries.contains(name)) {
+            std::string type_name = (std::string) str(m_base.attr("__name__"));
+            throw value_error(type_name + ": element \"" + std::string(name_) + "\" already exists!");
+        }
+
+        entries[name] = std::make_pair(value, doc);
+        m_base.attr(name) = value;
+    }
+
+    PYBIND11_NOINLINE void export_values() {
+        dict entries = m_base.attr("__entries");
+        for (auto kv : entries)
+            m_parent.attr(kv.first) = kv.second[int_(0)];
+    }
+
+    handle m_base;
+    handle m_parent;
+};
+
+PYBIND11_NAMESPACE_END(detail)
+
+/// Binds C++ enumerations and enumeration classes to Python
+template <typename Type> class enum_ : public class_<Type> {
+public:
+    using Base = class_<Type>;
+    using Base::def;
+    using Base::attr;
+    using Base::def_property_readonly;
+    using Base::def_property_readonly_static;
+    using Scalar = typename std::underlying_type<Type>::type;
+
+    template <typename... Extra>
+    enum_(const handle &scope, const char *name, const Extra&... extra)
+      : class_<Type>(scope, name, extra...), m_base(*this, scope) {
+        constexpr bool is_arithmetic = detail::any_of<std::is_same<arithmetic, Extra>...>::value;
+        constexpr bool is_convertible = std::is_convertible<Type, Scalar>::value;
+        m_base.init(is_arithmetic, is_convertible);
+
+        def(init([](Scalar i) { return static_cast<Type>(i); }));
+        def("__int__", [](Type value) { return (Scalar) value; });
+        #if PY_MAJOR_VERSION < 3
+            def("__long__", [](Type value) { return (Scalar) value; });
+        #endif
+        #if PY_MAJOR_VERSION > 3 || (PY_MAJOR_VERSION == 3 && PY_MINOR_VERSION >= 8)
+            def("__index__", [](Type value) { return (Scalar) value; });
+        #endif
+
+        attr("__setstate__") = cpp_function(
+            [](detail::value_and_holder &v_h, Scalar arg) {
+                detail::initimpl::setstate<Base>(v_h, static_cast<Type>(arg),
+                        Py_TYPE(v_h.inst) != v_h.type->type); },
+            detail::is_new_style_constructor(),
+            pybind11::name("__setstate__"), is_method(*this));
+    }
+
+    /// Export enumeration entries into the parent scope
+    enum_& export_values() {
+        m_base.export_values();
+        return *this;
+    }
+
+    /// Add an enumeration entry
+    enum_& value(char const* name, Type value, const char *doc = nullptr) {
+        m_base.value(name, pybind11::cast(value, return_value_policy::copy), doc);
+        return *this;
+    }
+
+private:
+    detail::enum_base m_base;
+};
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+
+inline void keep_alive_impl(handle nurse, handle patient) {
+    if (!nurse || !patient)
+        pybind11_fail("Could not activate keep_alive!");
+
+    if (patient.is_none() || nurse.is_none())
+        return; /* Nothing to keep alive or nothing to be kept alive by */
+
+    auto tinfo = all_type_info(Py_TYPE(nurse.ptr()));
+    if (!tinfo.empty()) {
+        /* It's a pybind-registered type, so we can store the patient in the
+         * internal list. */
+        add_patient(nurse.ptr(), patient.ptr());
+    }
+    else {
+        /* Fall back to clever approach based on weak references taken from
+         * Boost.Python. This is not used for pybind-registered types because
+         * the objects can be destroyed out-of-order in a GC pass. */
+        cpp_function disable_lifesupport(
+            [patient](handle weakref) { patient.dec_ref(); weakref.dec_ref(); });
+
+        weakref wr(nurse, disable_lifesupport);
+
+        patient.inc_ref(); /* reference patient and leak the weak reference */
+        (void) wr.release();
+    }
+}
+
+PYBIND11_NOINLINE inline void keep_alive_impl(size_t Nurse, size_t Patient, function_call &call, handle ret) {
+    auto get_arg = [&](size_t n) {
+        if (n == 0)
+            return ret;
+        else if (n == 1 && call.init_self)
+            return call.init_self;
+        else if (n <= call.args.size())
+            return call.args[n - 1];
+        return handle();
+    };
+
+    keep_alive_impl(get_arg(Nurse), get_arg(Patient));
+}
+
+inline std::pair<decltype(internals::registered_types_py)::iterator, bool> all_type_info_get_cache(PyTypeObject *type) {
+    auto res = get_internals().registered_types_py
+#ifdef __cpp_lib_unordered_map_try_emplace
+        .try_emplace(type);
+#else
+        .emplace(type, std::vector<detail::type_info *>());
+#endif
+    if (res.second) {
+        // New cache entry created; set up a weak reference to automatically remove it if the type
+        // gets destroyed:
+        weakref((PyObject *) type, cpp_function([type](handle wr) {
+            get_internals().registered_types_py.erase(type);
+            wr.dec_ref();
+        })).release();
+    }
+
+    return res;
+}
+
+template <typename Iterator, typename Sentinel, bool KeyIterator, return_value_policy Policy>
+struct iterator_state {
+    Iterator it;
+    Sentinel end;
+    bool first_or_done;
+};
+
+PYBIND11_NAMESPACE_END(detail)
+
+/// Makes a python iterator from a first and past-the-end C++ InputIterator.
+template <return_value_policy Policy = return_value_policy::reference_internal,
+          typename Iterator,
+          typename Sentinel,
+          typename ValueType = decltype(*std::declval<Iterator>()),
+          typename... Extra>
+iterator make_iterator(Iterator first, Sentinel last, Extra &&... extra) {
+    typedef detail::iterator_state<Iterator, Sentinel, false, Policy> state;
+
+    if (!detail::get_type_info(typeid(state), false)) {
+        class_<state>(handle(), "iterator", pybind11::module_local())
+            .def("__iter__", [](state &s) -> state& { return s; })
+            .def("__next__", [](state &s) -> ValueType {
+                if (!s.first_or_done)
+                    ++s.it;
+                else
+                    s.first_or_done = false;
+                if (s.it == s.end) {
+                    s.first_or_done = true;
+                    throw stop_iteration();
+                }
+                return *s.it;
+            }, std::forward<Extra>(extra)..., Policy);
+    }
+
+    return cast(state{first, last, true});
+}
+
+/// Makes an python iterator over the keys (`.first`) of a iterator over pairs from a
+/// first and past-the-end InputIterator.
+template <return_value_policy Policy = return_value_policy::reference_internal,
+          typename Iterator,
+          typename Sentinel,
+          typename KeyType = decltype((*std::declval<Iterator>()).first),
+          typename... Extra>
+iterator make_key_iterator(Iterator first, Sentinel last, Extra &&... extra) {
+    using state = detail::iterator_state<Iterator, Sentinel, true, Policy>;
+
+    if (!detail::get_type_info(typeid(state), false)) {
+        class_<state>(handle(), "iterator", pybind11::module_local())
+            .def("__iter__", [](state &s) -> state& { return s; })
+            .def("__next__", [](state &s) -> KeyType {
+                if (!s.first_or_done)
+                    ++s.it;
+                else
+                    s.first_or_done = false;
+                if (s.it == s.end) {
+                    s.first_or_done = true;
+                    throw stop_iteration();
+                }
+                return (*s.it).first;
+            }, std::forward<Extra>(extra)..., Policy);
+    }
+
+    return cast(state{first, last, true});
+}
+
+/// Makes an iterator over values of an stl container or other container supporting
+/// `std::begin()`/`std::end()`
+template <return_value_policy Policy = return_value_policy::reference_internal,
+          typename Type, typename... Extra> iterator make_iterator(Type &value, Extra&&... extra) {
+    return make_iterator<Policy>(std::begin(value), std::end(value), extra...);
+}
+
+/// Makes an iterator over the keys (`.first`) of a stl map-like container supporting
+/// `std::begin()`/`std::end()`
+template <return_value_policy Policy = return_value_policy::reference_internal,
+          typename Type, typename... Extra> iterator make_key_iterator(Type &value, Extra&&... extra) {
+    return make_key_iterator<Policy>(std::begin(value), std::end(value), extra...);
+}
+
+template <typename InputType, typename OutputType> void implicitly_convertible() {
+    struct set_flag {
+        bool &flag;
+        set_flag(bool &flag) : flag(flag) { flag = true; }
+        ~set_flag() { flag = false; }
+    };
+    auto implicit_caster = [](PyObject *obj, PyTypeObject *type) -> PyObject * {
+        static bool currently_used = false;
+        if (currently_used) // implicit conversions are non-reentrant
+            return nullptr;
+        set_flag flag_helper(currently_used);
+        if (!detail::make_caster<InputType>().load(obj, false))
+            return nullptr;
+        tuple args(1);
+        args[0] = obj;
+        PyObject *result = PyObject_Call((PyObject *) type, args.ptr(), nullptr);
+        if (result == nullptr)
+            PyErr_Clear();
+        return result;
+    };
+
+    if (auto tinfo = detail::get_type_info(typeid(OutputType)))
+        tinfo->implicit_conversions.push_back(implicit_caster);
+    else
+        pybind11_fail("implicitly_convertible: Unable to find type " + type_id<OutputType>());
+}
+
+template <typename ExceptionTranslator>
+void register_exception_translator(ExceptionTranslator&& translator) {
+    detail::get_internals().registered_exception_translators.push_front(
+        std::forward<ExceptionTranslator>(translator));
+}
+
+/**
+ * Wrapper to generate a new Python exception type.
+ *
+ * This should only be used with PyErr_SetString for now.
+ * It is not (yet) possible to use as a py::base.
+ * Template type argument is reserved for future use.
+ */
+template <typename type>
+class exception : public object {
+public:
+    exception() = default;
+    exception(handle scope, const char *name, handle base = PyExc_Exception) {
+        std::string full_name = scope.attr("__name__").cast<std::string>() +
+                                std::string(".") + name;
+        m_ptr = PyErr_NewException(const_cast<char *>(full_name.c_str()), base.ptr(), NULL);
+        if (hasattr(scope, "__dict__") && scope.attr("__dict__").contains(name))
+            pybind11_fail("Error during initialization: multiple incompatible "
+                          "definitions with name \"" + std::string(name) + "\"");
+        scope.attr(name) = *this;
+    }
+
+    // Sets the current python exception to this exception object with the given message
+    void operator()(const char *message) {
+        PyErr_SetString(m_ptr, message);
+    }
+};
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+// Returns a reference to a function-local static exception object used in the simple
+// register_exception approach below.  (It would be simpler to have the static local variable
+// directly in register_exception, but that makes clang <3.5 segfault - issue #1349).
+template <typename CppException>
+exception<CppException> &get_exception_object() { static exception<CppException> ex; return ex; }
+PYBIND11_NAMESPACE_END(detail)
+
+/**
+ * Registers a Python exception in `m` of the given `name` and installs an exception translator to
+ * translate the C++ exception to the created Python exception using the exceptions what() method.
+ * This is intended for simple exception translations; for more complex translation, register the
+ * exception object and translator directly.
+ */
+template <typename CppException>
+exception<CppException> &register_exception(handle scope,
+                                            const char *name,
+                                            handle base = PyExc_Exception) {
+    auto &ex = detail::get_exception_object<CppException>();
+    if (!ex) ex = exception<CppException>(scope, name, base);
+
+    register_exception_translator([](std::exception_ptr p) {
+        if (!p) return;
+        try {
+            std::rethrow_exception(p);
+        } catch (const CppException &e) {
+            detail::get_exception_object<CppException>()(e.what());
+        }
+    });
+    return ex;
+}
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+PYBIND11_NOINLINE inline void print(tuple args, dict kwargs) {
+    auto strings = tuple(args.size());
+    for (size_t i = 0; i < args.size(); ++i) {
+        strings[i] = str(args[i]);
+    }
+    auto sep = kwargs.contains("sep") ? kwargs["sep"] : cast(" ");
+    auto line = sep.attr("join")(strings);
+
+    object file;
+    if (kwargs.contains("file")) {
+        file = kwargs["file"].cast<object>();
+    } else {
+        try {
+            file = module_::import("sys").attr("stdout");
+        } catch (const error_already_set &) {
+            /* If print() is called from code that is executed as
+               part of garbage collection during interpreter shutdown,
+               importing 'sys' can fail. Give up rather than crashing the
+               interpreter in this case. */
+            return;
+        }
+    }
+
+    auto write = file.attr("write");
+    write(line);
+    write(kwargs.contains("end") ? kwargs["end"] : cast("\n"));
+
+    if (kwargs.contains("flush") && kwargs["flush"].cast<bool>())
+        file.attr("flush")();
+}
+PYBIND11_NAMESPACE_END(detail)
+
+template <return_value_policy policy = return_value_policy::automatic_reference, typename... Args>
+void print(Args &&...args) {
+    auto c = detail::collect_arguments<policy>(std::forward<Args>(args)...);
+    detail::print(c.args(), c.kwargs());
+}
+
+#if defined(WITH_THREAD) && !defined(PYPY_VERSION)
+
+/* The functions below essentially reproduce the PyGILState_* API using a RAII
+ * pattern, but there are a few important differences:
+ *
+ * 1. When acquiring the GIL from an non-main thread during the finalization
+ *    phase, the GILState API blindly terminates the calling thread, which
+ *    is often not what is wanted. This API does not do this.
+ *
+ * 2. The gil_scoped_release function can optionally cut the relationship
+ *    of a PyThreadState and its associated thread, which allows moving it to
+ *    another thread (this is a fairly rare/advanced use case).
+ *
+ * 3. The reference count of an acquired thread state can be controlled. This
+ *    can be handy to prevent cases where callbacks issued from an external
+ *    thread would otherwise constantly construct and destroy thread state data
+ *    structures.
+ *
+ * See the Python bindings of NanoGUI (http://github.com/wjakob/nanogui) for an
+ * example which uses features 2 and 3 to migrate the Python thread of
+ * execution to another thread (to run the event loop on the original thread,
+ * in this case).
+ */
+
+class gil_scoped_acquire {
+public:
+    PYBIND11_NOINLINE gil_scoped_acquire() {
+        auto const &internals = detail::get_internals();
+        tstate = (PyThreadState *) PYBIND11_TLS_GET_VALUE(internals.tstate);
+
+        if (!tstate) {
+            /* Check if the GIL was acquired using the PyGILState_* API instead (e.g. if
+               calling from a Python thread). Since we use a different key, this ensures
+               we don't create a new thread state and deadlock in PyEval_AcquireThread
+               below. Note we don't save this state with internals.tstate, since we don't
+               create it we would fail to clear it (its reference count should be > 0). */
+            tstate = PyGILState_GetThisThreadState();
+        }
+
+        if (!tstate) {
+            tstate = PyThreadState_New(internals.istate);
+            #if !defined(NDEBUG)
+                if (!tstate)
+                    pybind11_fail("scoped_acquire: could not create thread state!");
+            #endif
+            tstate->gilstate_counter = 0;
+            PYBIND11_TLS_REPLACE_VALUE(internals.tstate, tstate);
+        } else {
+            release = detail::get_thread_state_unchecked() != tstate;
+        }
+
+        if (release) {
+            /* Work around an annoying assertion in PyThreadState_Swap */
+            #if defined(Py_DEBUG)
+                PyInterpreterState *interp = tstate->interp;
+                tstate->interp = nullptr;
+            #endif
+            PyEval_AcquireThread(tstate);
+            #if defined(Py_DEBUG)
+                tstate->interp = interp;
+            #endif
+        }
+
+        inc_ref();
+    }
+
+    void inc_ref() {
+        ++tstate->gilstate_counter;
+    }
+
+    PYBIND11_NOINLINE void dec_ref() {
+        --tstate->gilstate_counter;
+        #if !defined(NDEBUG)
+            if (detail::get_thread_state_unchecked() != tstate)
+                pybind11_fail("scoped_acquire::dec_ref(): thread state must be current!");
+            if (tstate->gilstate_counter < 0)
+                pybind11_fail("scoped_acquire::dec_ref(): reference count underflow!");
+        #endif
+        if (tstate->gilstate_counter == 0) {
+            #if !defined(NDEBUG)
+                if (!release)
+                    pybind11_fail("scoped_acquire::dec_ref(): internal error!");
+            #endif
+            PyThreadState_Clear(tstate);
+            PyThreadState_DeleteCurrent();
+            PYBIND11_TLS_DELETE_VALUE(detail::get_internals().tstate);
+            release = false;
+        }
+    }
+
+    PYBIND11_NOINLINE ~gil_scoped_acquire() {
+        dec_ref();
+        if (release)
+           PyEval_SaveThread();
+    }
+private:
+    PyThreadState *tstate = nullptr;
+    bool release = true;
+};
+
+class gil_scoped_release {
+public:
+    explicit gil_scoped_release(bool disassoc = false) : disassoc(disassoc) {
+        // `get_internals()` must be called here unconditionally in order to initialize
+        // `internals.tstate` for subsequent `gil_scoped_acquire` calls. Otherwise, an
+        // initialization race could occur as multiple threads try `gil_scoped_acquire`.
+        const auto &internals = detail::get_internals();
+        tstate = PyEval_SaveThread();
+        if (disassoc) {
+            auto key = internals.tstate;
+            PYBIND11_TLS_DELETE_VALUE(key);
+        }
+    }
+    ~gil_scoped_release() {
+        if (!tstate)
+            return;
+        PyEval_RestoreThread(tstate);
+        if (disassoc) {
+            auto key = detail::get_internals().tstate;
+            PYBIND11_TLS_REPLACE_VALUE(key, tstate);
+        }
+    }
+private:
+    PyThreadState *tstate;
+    bool disassoc;
+};
+#elif defined(PYPY_VERSION)
+class gil_scoped_acquire {
+    PyGILState_STATE state;
+public:
+    gil_scoped_acquire() { state = PyGILState_Ensure(); }
+    ~gil_scoped_acquire() { PyGILState_Release(state); }
+};
+
+class gil_scoped_release {
+    PyThreadState *state;
+public:
+    gil_scoped_release() { state = PyEval_SaveThread(); }
+    ~gil_scoped_release() { PyEval_RestoreThread(state); }
+};
+#else
+class gil_scoped_acquire { };
+class gil_scoped_release { };
+#endif
+
+error_already_set::~error_already_set() {
+    if (m_type) {
+        gil_scoped_acquire gil;
+        error_scope scope;
+        m_type.release().dec_ref();
+        m_value.release().dec_ref();
+        m_trace.release().dec_ref();
+    }
+}
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+inline function get_type_override(const void *this_ptr, const type_info *this_type, const char *name)  {
+    handle self = get_object_handle(this_ptr, this_type);
+    if (!self)
+        return function();
+    handle type = type::handle_of(self);
+    auto key = std::make_pair(type.ptr(), name);
+
+    /* Cache functions that aren't overridden in Python to avoid
+       many costly Python dictionary lookups below */
+    auto &cache = get_internals().inactive_override_cache;
+    if (cache.find(key) != cache.end())
+        return function();
+
+    function override = getattr(self, name, function());
+    if (override.is_cpp_function()) {
+        cache.insert(key);
+        return function();
+    }
+
+    /* Don't call dispatch code if invoked from overridden function.
+       Unfortunately this doesn't work on PyPy. */
+#if !defined(PYPY_VERSION)
+    PyFrameObject *frame = PyThreadState_Get()->frame;
+    if (frame && (std::string) str(frame->f_code->co_name) == name &&
+        frame->f_code->co_argcount > 0) {
+        PyFrame_FastToLocals(frame);
+        PyObject *self_caller = PyDict_GetItem(
+            frame->f_locals, PyTuple_GET_ITEM(frame->f_code->co_varnames, 0));
+        if (self_caller == self.ptr())
+            return function();
+    }
+#else
+    /* PyPy currently doesn't provide a detailed cpyext emulation of
+       frame objects, so we have to emulate this using Python. This
+       is going to be slow..*/
+    dict d; d["self"] = self; d["name"] = pybind11::str(name);
+    PyObject *result = PyRun_String(
+        "import inspect\n"
+        "frame = inspect.currentframe()\n"
+        "if frame is not None:\n"
+        "    frame = frame.f_back\n"
+        "    if frame is not None and str(frame.f_code.co_name) == name and "
+        "frame.f_code.co_argcount > 0:\n"
+        "        self_caller = frame.f_locals[frame.f_code.co_varnames[0]]\n"
+        "        if self_caller == self:\n"
+        "            self = None\n",
+        Py_file_input, d.ptr(), d.ptr());
+    if (result == nullptr)
+        throw error_already_set();
+    if (d["self"].is_none())
+        return function();
+    Py_DECREF(result);
+#endif
+
+    return override;
+}
+PYBIND11_NAMESPACE_END(detail)
+
+/** \rst
+  Try to retrieve a python method by the provided name from the instance pointed to by the this_ptr.
+
+  :this_ptr: The pointer to the object the overriden method should be retrieved for. This should be
+             the first non-trampoline class encountered in the inheritance chain.
+  :name: The name of the overridden Python method to retrieve.
+  :return: The Python method by this name from the object or an empty function wrapper.
+ \endrst */
+template <class T> function get_override(const T *this_ptr, const char *name) {
+    auto tinfo = detail::get_type_info(typeid(T));
+    return tinfo ? detail::get_type_override(this_ptr, tinfo, name) : function();
+}
+
+#define PYBIND11_OVERRIDE_IMPL(ret_type, cname, name, ...) \
+    do { \
+        pybind11::gil_scoped_acquire gil; \
+        pybind11::function override = pybind11::get_override(static_cast<const cname *>(this), name); \
+        if (override) { \
+            auto o = override(__VA_ARGS__); \
+            if (pybind11::detail::cast_is_temporary_value_reference<ret_type>::value) { \
+                static pybind11::detail::override_caster_t<ret_type> caster; \
+                return pybind11::detail::cast_ref<ret_type>(std::move(o), caster); \
+            } \
+            else return pybind11::detail::cast_safe<ret_type>(std::move(o)); \
+        } \
+    } while (false)
+
+/** \rst
+    Macro to populate the virtual method in the trampoline class. This macro tries to look up a method named 'fn'
+    from the Python side, deals with the :ref:`gil` and necessary argument conversions to call this method and return
+    the appropriate type. See :ref:`overriding_virtuals` for more information. This macro should be used when the method
+    name in C is not the same as the method name in Python. For example with `__str__`.
+
+    .. code-block:: cpp
+
+      std::string toString() override {
+        PYBIND11_OVERRIDE_NAME(
+            std::string, // Return type (ret_type)
+            Animal,      // Parent class (cname)
+            "__str__",   // Name of method in Python (name)
+            toString,    // Name of function in C++ (fn)
+        );
+      }
+\endrst */
+#define PYBIND11_OVERRIDE_NAME(ret_type, cname, name, fn, ...) \
+    do { \
+        PYBIND11_OVERRIDE_IMPL(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, __VA_ARGS__); \
+        return cname::fn(__VA_ARGS__); \
+    } while (false)
+
+/** \rst
+    Macro for pure virtual functions, this function is identical to :c:macro:`PYBIND11_OVERRIDE_NAME`, except that it
+    throws if no override can be found.
+\endrst */
+#define PYBIND11_OVERRIDE_PURE_NAME(ret_type, cname, name, fn, ...) \
+    do { \
+        PYBIND11_OVERRIDE_IMPL(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, __VA_ARGS__); \
+        pybind11::pybind11_fail("Tried to call pure virtual function \"" PYBIND11_STRINGIFY(cname) "::" name "\""); \
+    } while (false)
+
+/** \rst
+    Macro to populate the virtual method in the trampoline class. This macro tries to look up the method
+    from the Python side, deals with the :ref:`gil` and necessary argument conversions to call this method and return
+    the appropriate type. This macro should be used if the method name in C and in Python are identical.
+    See :ref:`overriding_virtuals` for more information.
+
+    .. code-block:: cpp
+
+      class PyAnimal : public Animal {
+      public:
+          // Inherit the constructors
+          using Animal::Animal;
+
+          // Trampoline (need one for each virtual function)
+          std::string go(int n_times) override {
+              PYBIND11_OVERRIDE_PURE(
+                  std::string, // Return type (ret_type)
+                  Animal,      // Parent class (cname)
+                  go,          // Name of function in C++ (must match Python name) (fn)
+                  n_times      // Argument(s) (...)
+              );
+          }
+      };
+\endrst */
+#define PYBIND11_OVERRIDE(ret_type, cname, fn, ...) \
+    PYBIND11_OVERRIDE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), #fn, fn, __VA_ARGS__)
+
+/** \rst
+    Macro for pure virtual functions, this function is identical to :c:macro:`PYBIND11_OVERRIDE`, except that it throws
+    if no override can be found.
+\endrst */
+#define PYBIND11_OVERRIDE_PURE(ret_type, cname, fn, ...) \
+    PYBIND11_OVERRIDE_PURE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), #fn, fn, __VA_ARGS__)
+
+
+// Deprecated versions
+
+PYBIND11_DEPRECATED("get_type_overload has been deprecated")
+inline function get_type_overload(const void *this_ptr, const detail::type_info *this_type, const char *name) {
+    return detail::get_type_override(this_ptr, this_type, name);
+}
+
+template <class T>
+inline function get_overload(const T *this_ptr, const char *name) {
+    return get_override(this_ptr, name);
+}
+
+#define PYBIND11_OVERLOAD_INT(ret_type, cname, name, ...) \
+    PYBIND11_OVERRIDE_IMPL(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, __VA_ARGS__)
+#define PYBIND11_OVERLOAD_NAME(ret_type, cname, name, fn, ...) \
+    PYBIND11_OVERRIDE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, fn, __VA_ARGS__)
+#define PYBIND11_OVERLOAD_PURE_NAME(ret_type, cname, name, fn, ...) \
+    PYBIND11_OVERRIDE_PURE_NAME(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), name, fn, __VA_ARGS__);
+#define PYBIND11_OVERLOAD(ret_type, cname, fn, ...) \
+    PYBIND11_OVERRIDE(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), fn, __VA_ARGS__)
+#define PYBIND11_OVERLOAD_PURE(ret_type, cname, fn, ...) \
+    PYBIND11_OVERRIDE_PURE(PYBIND11_TYPE(ret_type), PYBIND11_TYPE(cname), fn, __VA_ARGS__);
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
+
+#if defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+#  pragma warning(pop)
+#elif defined(__GNUG__) && !defined(__clang__)
+#  pragma GCC diagnostic pop
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/pytypes.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/pytypes.h
new file mode 100644
index 0000000..30d7f9a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/pytypes.h
@@ -0,0 +1,1655 @@
+/*
+    pybind11/pytypes.h: Convenience wrapper classes for basic Python types
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "detail/common.h"
+#include "buffer_info.h"
+#include <utility>
+#include <type_traits>
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+
+/* A few forward declarations */
+class handle; class object;
+class str; class iterator;
+class type;
+struct arg; struct arg_v;
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+class args_proxy;
+inline bool isinstance_generic(handle obj, const std::type_info &tp);
+
+// Accessor forward declarations
+template <typename Policy> class accessor;
+namespace accessor_policies {
+    struct obj_attr;
+    struct str_attr;
+    struct generic_item;
+    struct sequence_item;
+    struct list_item;
+    struct tuple_item;
+} // namespace accessor_policies
+using obj_attr_accessor = accessor<accessor_policies::obj_attr>;
+using str_attr_accessor = accessor<accessor_policies::str_attr>;
+using item_accessor = accessor<accessor_policies::generic_item>;
+using sequence_accessor = accessor<accessor_policies::sequence_item>;
+using list_accessor = accessor<accessor_policies::list_item>;
+using tuple_accessor = accessor<accessor_policies::tuple_item>;
+
+/// Tag and check to identify a class which implements the Python object API
+class pyobject_tag { };
+template <typename T> using is_pyobject = std::is_base_of<pyobject_tag, remove_reference_t<T>>;
+
+/** \rst
+    A mixin class which adds common functions to `handle`, `object` and various accessors.
+    The only requirement for `Derived` is to implement ``PyObject *Derived::ptr() const``.
+\endrst */
+template <typename Derived>
+class object_api : public pyobject_tag {
+    const Derived &derived() const { return static_cast<const Derived &>(*this); }
+
+public:
+    /** \rst
+        Return an iterator equivalent to calling ``iter()`` in Python. The object
+        must be a collection which supports the iteration protocol.
+    \endrst */
+    iterator begin() const;
+    /// Return a sentinel which ends iteration.
+    iterator end() const;
+
+    /** \rst
+        Return an internal functor to invoke the object's sequence protocol. Casting
+        the returned ``detail::item_accessor`` instance to a `handle` or `object`
+        subclass causes a corresponding call to ``__getitem__``. Assigning a `handle`
+        or `object` subclass causes a call to ``__setitem__``.
+    \endrst */
+    item_accessor operator[](handle key) const;
+    /// See above (the only difference is that they key is provided as a string literal)
+    item_accessor operator[](const char *key) const;
+
+    /** \rst
+        Return an internal functor to access the object's attributes. Casting the
+        returned ``detail::obj_attr_accessor`` instance to a `handle` or `object`
+        subclass causes a corresponding call to ``getattr``. Assigning a `handle`
+        or `object` subclass causes a call to ``setattr``.
+    \endrst */
+    obj_attr_accessor attr(handle key) const;
+    /// See above (the only difference is that they key is provided as a string literal)
+    str_attr_accessor attr(const char *key) const;
+
+    /** \rst
+        Matches * unpacking in Python, e.g. to unpack arguments out of a ``tuple``
+        or ``list`` for a function call. Applying another * to the result yields
+        ** unpacking, e.g. to unpack a dict as function keyword arguments.
+        See :ref:`calling_python_functions`.
+    \endrst */
+    args_proxy operator*() const;
+
+    /// Check if the given item is contained within this object, i.e. ``item in obj``.
+    template <typename T> bool contains(T &&item) const;
+
+    /** \rst
+        Assuming the Python object is a function or implements the ``__call__``
+        protocol, ``operator()`` invokes the underlying function, passing an
+        arbitrary set of parameters. The result is returned as a `object` and
+        may need to be converted back into a Python object using `handle::cast()`.
+
+        When some of the arguments cannot be converted to Python objects, the
+        function will throw a `cast_error` exception. When the Python function
+        call fails, a `error_already_set` exception is thrown.
+    \endrst */
+    template <return_value_policy policy = return_value_policy::automatic_reference, typename... Args>
+    object operator()(Args &&...args) const;
+    template <return_value_policy policy = return_value_policy::automatic_reference, typename... Args>
+    PYBIND11_DEPRECATED("call(...) was deprecated in favor of operator()(...)")
+        object call(Args&&... args) const;
+
+    /// Equivalent to ``obj is other`` in Python.
+    bool is(object_api const& other) const { return derived().ptr() == other.derived().ptr(); }
+    /// Equivalent to ``obj is None`` in Python.
+    bool is_none() const { return derived().ptr() == Py_None; }
+    /// Equivalent to obj == other in Python
+    bool equal(object_api const &other) const      { return rich_compare(other, Py_EQ); }
+    bool not_equal(object_api const &other) const  { return rich_compare(other, Py_NE); }
+    bool operator<(object_api const &other) const  { return rich_compare(other, Py_LT); }
+    bool operator<=(object_api const &other) const { return rich_compare(other, Py_LE); }
+    bool operator>(object_api const &other) const  { return rich_compare(other, Py_GT); }
+    bool operator>=(object_api const &other) const { return rich_compare(other, Py_GE); }
+
+    object operator-() const;
+    object operator~() const;
+    object operator+(object_api const &other) const;
+    object operator+=(object_api const &other) const;
+    object operator-(object_api const &other) const;
+    object operator-=(object_api const &other) const;
+    object operator*(object_api const &other) const;
+    object operator*=(object_api const &other) const;
+    object operator/(object_api const &other) const;
+    object operator/=(object_api const &other) const;
+    object operator|(object_api const &other) const;
+    object operator|=(object_api const &other) const;
+    object operator&(object_api const &other) const;
+    object operator&=(object_api const &other) const;
+    object operator^(object_api const &other) const;
+    object operator^=(object_api const &other) const;
+    object operator<<(object_api const &other) const;
+    object operator<<=(object_api const &other) const;
+    object operator>>(object_api const &other) const;
+    object operator>>=(object_api const &other) const;
+
+    PYBIND11_DEPRECATED("Use py::str(obj) instead")
+    pybind11::str str() const;
+
+    /// Get or set the object's docstring, i.e. ``obj.__doc__``.
+    str_attr_accessor doc() const;
+
+    /// Return the object's current reference count
+    int ref_count() const { return static_cast<int>(Py_REFCNT(derived().ptr())); }
+
+    // TODO PYBIND11_DEPRECATED("Call py::type::handle_of(h) or py::type::of(h) instead of h.get_type()")
+    handle get_type() const;
+
+private:
+    bool rich_compare(object_api const &other, int value) const;
+};
+
+PYBIND11_NAMESPACE_END(detail)
+
+/** \rst
+    Holds a reference to a Python object (no reference counting)
+
+    The `handle` class is a thin wrapper around an arbitrary Python object (i.e. a
+    ``PyObject *`` in Python's C API). It does not perform any automatic reference
+    counting and merely provides a basic C++ interface to various Python API functions.
+
+    .. seealso::
+        The `object` class inherits from `handle` and adds automatic reference
+        counting features.
+\endrst */
+class handle : public detail::object_api<handle> {
+public:
+    /// The default constructor creates a handle with a ``nullptr``-valued pointer
+    handle() = default;
+    /// Creates a ``handle`` from the given raw Python object pointer
+    handle(PyObject *ptr) : m_ptr(ptr) { } // Allow implicit conversion from PyObject*
+
+    /// Return the underlying ``PyObject *`` pointer
+    PyObject *ptr() const { return m_ptr; }
+    PyObject *&ptr() { return m_ptr; }
+
+    /** \rst
+        Manually increase the reference count of the Python object. Usually, it is
+        preferable to use the `object` class which derives from `handle` and calls
+        this function automatically. Returns a reference to itself.
+    \endrst */
+    const handle& inc_ref() const & { Py_XINCREF(m_ptr); return *this; }
+
+    /** \rst
+        Manually decrease the reference count of the Python object. Usually, it is
+        preferable to use the `object` class which derives from `handle` and calls
+        this function automatically. Returns a reference to itself.
+    \endrst */
+    const handle& dec_ref() const & { Py_XDECREF(m_ptr); return *this; }
+
+    /** \rst
+        Attempt to cast the Python object into the given C++ type. A `cast_error`
+        will be throw upon failure.
+    \endrst */
+    template <typename T> T cast() const;
+    /// Return ``true`` when the `handle` wraps a valid Python object
+    explicit operator bool() const { return m_ptr != nullptr; }
+    /** \rst
+        Deprecated: Check that the underlying pointers are the same.
+        Equivalent to ``obj1 is obj2`` in Python.
+    \endrst */
+    PYBIND11_DEPRECATED("Use obj1.is(obj2) instead")
+    bool operator==(const handle &h) const { return m_ptr == h.m_ptr; }
+    PYBIND11_DEPRECATED("Use !obj1.is(obj2) instead")
+    bool operator!=(const handle &h) const { return m_ptr != h.m_ptr; }
+    PYBIND11_DEPRECATED("Use handle::operator bool() instead")
+    bool check() const { return m_ptr != nullptr; }
+protected:
+    PyObject *m_ptr = nullptr;
+};
+
+/** \rst
+    Holds a reference to a Python object (with reference counting)
+
+    Like `handle`, the `object` class is a thin wrapper around an arbitrary Python
+    object (i.e. a ``PyObject *`` in Python's C API). In contrast to `handle`, it
+    optionally increases the object's reference count upon construction, and it
+    *always* decreases the reference count when the `object` instance goes out of
+    scope and is destructed. When using `object` instances consistently, it is much
+    easier to get reference counting right at the first attempt.
+\endrst */
+class object : public handle {
+public:
+    object() = default;
+    PYBIND11_DEPRECATED("Use reinterpret_borrow<object>() or reinterpret_steal<object>()")
+    object(handle h, bool is_borrowed) : handle(h) { if (is_borrowed) inc_ref(); }
+    /// Copy constructor; always increases the reference count
+    object(const object &o) : handle(o) { inc_ref(); }
+    /// Move constructor; steals the object from ``other`` and preserves its reference count
+    object(object &&other) noexcept { m_ptr = other.m_ptr; other.m_ptr = nullptr; }
+    /// Destructor; automatically calls `handle::dec_ref()`
+    ~object() { dec_ref(); }
+
+    /** \rst
+        Resets the internal pointer to ``nullptr`` without decreasing the
+        object's reference count. The function returns a raw handle to the original
+        Python object.
+    \endrst */
+    handle release() {
+      PyObject *tmp = m_ptr;
+      m_ptr = nullptr;
+      return handle(tmp);
+    }
+
+    object& operator=(const object &other) {
+        other.inc_ref();
+        dec_ref();
+        m_ptr = other.m_ptr;
+        return *this;
+    }
+
+    object& operator=(object &&other) noexcept {
+        if (this != &other) {
+            handle temp(m_ptr);
+            m_ptr = other.m_ptr;
+            other.m_ptr = nullptr;
+            temp.dec_ref();
+        }
+        return *this;
+    }
+
+    // Calling cast() on an object lvalue just copies (via handle::cast)
+    template <typename T> T cast() const &;
+    // Calling on an object rvalue does a move, if needed and/or possible
+    template <typename T> T cast() &&;
+
+protected:
+    // Tags for choosing constructors from raw PyObject *
+    struct borrowed_t { };
+    struct stolen_t { };
+
+    template <typename T> friend T reinterpret_borrow(handle);
+    template <typename T> friend T reinterpret_steal(handle);
+
+public:
+    // Only accessible from derived classes and the reinterpret_* functions
+    object(handle h, borrowed_t) : handle(h) { inc_ref(); }
+    object(handle h, stolen_t) : handle(h) { }
+};
+
+/** \rst
+    Declare that a `handle` or ``PyObject *`` is a certain type and borrow the reference.
+    The target type ``T`` must be `object` or one of its derived classes. The function
+    doesn't do any conversions or checks. It's up to the user to make sure that the
+    target type is correct.
+
+    .. code-block:: cpp
+
+        PyObject *p = PyList_GetItem(obj, index);
+        py::object o = reinterpret_borrow<py::object>(p);
+        // or
+        py::tuple t = reinterpret_borrow<py::tuple>(p); // <-- `p` must be already be a `tuple`
+\endrst */
+template <typename T> T reinterpret_borrow(handle h) { return {h, object::borrowed_t{}}; }
+
+/** \rst
+    Like `reinterpret_borrow`, but steals the reference.
+
+     .. code-block:: cpp
+
+        PyObject *p = PyObject_Str(obj);
+        py::str s = reinterpret_steal<py::str>(p); // <-- `p` must be already be a `str`
+\endrst */
+template <typename T> T reinterpret_steal(handle h) { return {h, object::stolen_t{}}; }
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+inline std::string error_string();
+PYBIND11_NAMESPACE_END(detail)
+
+/// Fetch and hold an error which was already set in Python.  An instance of this is typically
+/// thrown to propagate python-side errors back through C++ which can either be caught manually or
+/// else falls back to the function dispatcher (which then raises the captured error back to
+/// python).
+class error_already_set : public std::runtime_error {
+public:
+    /// Constructs a new exception from the current Python error indicator, if any.  The current
+    /// Python error indicator will be cleared.
+    error_already_set() : std::runtime_error(detail::error_string()) {
+        PyErr_Fetch(&m_type.ptr(), &m_value.ptr(), &m_trace.ptr());
+    }
+
+    error_already_set(const error_already_set &) = default;
+    error_already_set(error_already_set &&) = default;
+
+    inline ~error_already_set() override;
+
+    /// Give the currently-held error back to Python, if any.  If there is currently a Python error
+    /// already set it is cleared first.  After this call, the current object no longer stores the
+    /// error variables (but the `.what()` string is still available).
+    void restore() { PyErr_Restore(m_type.release().ptr(), m_value.release().ptr(), m_trace.release().ptr()); }
+
+    /// If it is impossible to raise the currently-held error, such as in destructor, we can write
+    /// it out using Python's unraisable hook (sys.unraisablehook). The error context should be
+    /// some object whose repr() helps identify the location of the error. Python already knows the
+    /// type and value of the error, so there is no need to repeat that. For example, __func__ could
+    /// be helpful. After this call, the current object no longer stores the error variables,
+    /// and neither does Python.
+    void discard_as_unraisable(object err_context) {
+        restore();
+        PyErr_WriteUnraisable(err_context.ptr());
+    }
+    void discard_as_unraisable(const char *err_context) {
+        discard_as_unraisable(reinterpret_steal<object>(PYBIND11_FROM_STRING(err_context)));
+    }
+
+    // Does nothing; provided for backwards compatibility.
+    PYBIND11_DEPRECATED("Use of error_already_set.clear() is deprecated")
+    void clear() {}
+
+    /// Check if the currently trapped error type matches the given Python exception class (or a
+    /// subclass thereof).  May also be passed a tuple to search for any exception class matches in
+    /// the given tuple.
+    bool matches(handle exc) const { return PyErr_GivenExceptionMatches(m_type.ptr(), exc.ptr()); }
+
+    const object& type() const { return m_type; }
+    const object& value() const { return m_value; }
+    const object& trace() const { return m_trace; }
+
+private:
+    object m_type, m_value, m_trace;
+};
+
+/** \defgroup python_builtins _
+    Unless stated otherwise, the following C++ functions behave the same
+    as their Python counterparts.
+ */
+
+/** \ingroup python_builtins
+    \rst
+    Return true if ``obj`` is an instance of ``T``. Type ``T`` must be a subclass of
+    `object` or a class which was exposed to Python as ``py::class_<T>``.
+\endrst */
+template <typename T, detail::enable_if_t<std::is_base_of<object, T>::value, int> = 0>
+bool isinstance(handle obj) { return T::check_(obj); }
+
+template <typename T, detail::enable_if_t<!std::is_base_of<object, T>::value, int> = 0>
+bool isinstance(handle obj) { return detail::isinstance_generic(obj, typeid(T)); }
+
+template <> inline bool isinstance<handle>(handle) = delete;
+template <> inline bool isinstance<object>(handle obj) { return obj.ptr() != nullptr; }
+
+/// \ingroup python_builtins
+/// Return true if ``obj`` is an instance of the ``type``.
+inline bool isinstance(handle obj, handle type) {
+    const auto result = PyObject_IsInstance(obj.ptr(), type.ptr());
+    if (result == -1)
+        throw error_already_set();
+    return result != 0;
+}
+
+/// \addtogroup python_builtins
+/// @{
+inline bool hasattr(handle obj, handle name) {
+    return PyObject_HasAttr(obj.ptr(), name.ptr()) == 1;
+}
+
+inline bool hasattr(handle obj, const char *name) {
+    return PyObject_HasAttrString(obj.ptr(), name) == 1;
+}
+
+inline void delattr(handle obj, handle name) {
+    if (PyObject_DelAttr(obj.ptr(), name.ptr()) != 0) { throw error_already_set(); }
+}
+
+inline void delattr(handle obj, const char *name) {
+    if (PyObject_DelAttrString(obj.ptr(), name) != 0) { throw error_already_set(); }
+}
+
+inline object getattr(handle obj, handle name) {
+    PyObject *result = PyObject_GetAttr(obj.ptr(), name.ptr());
+    if (!result) { throw error_already_set(); }
+    return reinterpret_steal<object>(result);
+}
+
+inline object getattr(handle obj, const char *name) {
+    PyObject *result = PyObject_GetAttrString(obj.ptr(), name);
+    if (!result) { throw error_already_set(); }
+    return reinterpret_steal<object>(result);
+}
+
+inline object getattr(handle obj, handle name, handle default_) {
+    if (PyObject *result = PyObject_GetAttr(obj.ptr(), name.ptr())) {
+        return reinterpret_steal<object>(result);
+    } else {
+        PyErr_Clear();
+        return reinterpret_borrow<object>(default_);
+    }
+}
+
+inline object getattr(handle obj, const char *name, handle default_) {
+    if (PyObject *result = PyObject_GetAttrString(obj.ptr(), name)) {
+        return reinterpret_steal<object>(result);
+    } else {
+        PyErr_Clear();
+        return reinterpret_borrow<object>(default_);
+    }
+}
+
+inline void setattr(handle obj, handle name, handle value) {
+    if (PyObject_SetAttr(obj.ptr(), name.ptr(), value.ptr()) != 0) { throw error_already_set(); }
+}
+
+inline void setattr(handle obj, const char *name, handle value) {
+    if (PyObject_SetAttrString(obj.ptr(), name, value.ptr()) != 0) { throw error_already_set(); }
+}
+
+inline ssize_t hash(handle obj) {
+    auto h = PyObject_Hash(obj.ptr());
+    if (h == -1) { throw error_already_set(); }
+    return h;
+}
+
+/// @} python_builtins
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+inline handle get_function(handle value) {
+    if (value) {
+#if PY_MAJOR_VERSION >= 3
+        if (PyInstanceMethod_Check(value.ptr()))
+            value = PyInstanceMethod_GET_FUNCTION(value.ptr());
+        else
+#endif
+        if (PyMethod_Check(value.ptr()))
+            value = PyMethod_GET_FUNCTION(value.ptr());
+    }
+    return value;
+}
+
+// Helper aliases/functions to support implicit casting of values given to python accessors/methods.
+// When given a pyobject, this simply returns the pyobject as-is; for other C++ type, the value goes
+// through pybind11::cast(obj) to convert it to an `object`.
+template <typename T, enable_if_t<is_pyobject<T>::value, int> = 0>
+auto object_or_cast(T &&o) -> decltype(std::forward<T>(o)) { return std::forward<T>(o); }
+// The following casting version is implemented in cast.h:
+template <typename T, enable_if_t<!is_pyobject<T>::value, int> = 0>
+object object_or_cast(T &&o);
+// Match a PyObject*, which we want to convert directly to handle via its converting constructor
+inline handle object_or_cast(PyObject *ptr) { return ptr; }
+
+template <typename Policy>
+class accessor : public object_api<accessor<Policy>> {
+    using key_type = typename Policy::key_type;
+
+public:
+    accessor(handle obj, key_type key) : obj(obj), key(std::move(key)) { }
+    accessor(const accessor &) = default;
+    accessor(accessor &&) = default;
+
+    // accessor overload required to override default assignment operator (templates are not allowed
+    // to replace default compiler-generated assignments).
+    void operator=(const accessor &a) && { std::move(*this).operator=(handle(a)); }
+    void operator=(const accessor &a) & { operator=(handle(a)); }
+
+    template <typename T> void operator=(T &&value) && {
+        Policy::set(obj, key, object_or_cast(std::forward<T>(value)));
+    }
+    template <typename T> void operator=(T &&value) & {
+        get_cache() = reinterpret_borrow<object>(object_or_cast(std::forward<T>(value)));
+    }
+
+    template <typename T = Policy>
+    PYBIND11_DEPRECATED("Use of obj.attr(...) as bool is deprecated in favor of pybind11::hasattr(obj, ...)")
+    explicit operator enable_if_t<std::is_same<T, accessor_policies::str_attr>::value ||
+            std::is_same<T, accessor_policies::obj_attr>::value, bool>() const {
+        return hasattr(obj, key);
+    }
+    template <typename T = Policy>
+    PYBIND11_DEPRECATED("Use of obj[key] as bool is deprecated in favor of obj.contains(key)")
+    explicit operator enable_if_t<std::is_same<T, accessor_policies::generic_item>::value, bool>() const {
+        return obj.contains(key);
+    }
+
+    operator object() const { return get_cache(); }
+    PyObject *ptr() const { return get_cache().ptr(); }
+    template <typename T> T cast() const { return get_cache().template cast<T>(); }
+
+private:
+    object &get_cache() const {
+        if (!cache) { cache = Policy::get(obj, key); }
+        return cache;
+    }
+
+private:
+    handle obj;
+    key_type key;
+    mutable object cache;
+};
+
+PYBIND11_NAMESPACE_BEGIN(accessor_policies)
+struct obj_attr {
+    using key_type = object;
+    static object get(handle obj, handle key) { return getattr(obj, key); }
+    static void set(handle obj, handle key, handle val) { setattr(obj, key, val); }
+};
+
+struct str_attr {
+    using key_type = const char *;
+    static object get(handle obj, const char *key) { return getattr(obj, key); }
+    static void set(handle obj, const char *key, handle val) { setattr(obj, key, val); }
+};
+
+struct generic_item {
+    using key_type = object;
+
+    static object get(handle obj, handle key) {
+        PyObject *result = PyObject_GetItem(obj.ptr(), key.ptr());
+        if (!result) { throw error_already_set(); }
+        return reinterpret_steal<object>(result);
+    }
+
+    static void set(handle obj, handle key, handle val) {
+        if (PyObject_SetItem(obj.ptr(), key.ptr(), val.ptr()) != 0) { throw error_already_set(); }
+    }
+};
+
+struct sequence_item {
+    using key_type = size_t;
+
+    static object get(handle obj, size_t index) {
+        PyObject *result = PySequence_GetItem(obj.ptr(), static_cast<ssize_t>(index));
+        if (!result) { throw error_already_set(); }
+        return reinterpret_steal<object>(result);
+    }
+
+    static void set(handle obj, size_t index, handle val) {
+        // PySequence_SetItem does not steal a reference to 'val'
+        if (PySequence_SetItem(obj.ptr(), static_cast<ssize_t>(index), val.ptr()) != 0) {
+            throw error_already_set();
+        }
+    }
+};
+
+struct list_item {
+    using key_type = size_t;
+
+    static object get(handle obj, size_t index) {
+        PyObject *result = PyList_GetItem(obj.ptr(), static_cast<ssize_t>(index));
+        if (!result) { throw error_already_set(); }
+        return reinterpret_borrow<object>(result);
+    }
+
+    static void set(handle obj, size_t index, handle val) {
+        // PyList_SetItem steals a reference to 'val'
+        if (PyList_SetItem(obj.ptr(), static_cast<ssize_t>(index), val.inc_ref().ptr()) != 0) {
+            throw error_already_set();
+        }
+    }
+};
+
+struct tuple_item {
+    using key_type = size_t;
+
+    static object get(handle obj, size_t index) {
+        PyObject *result = PyTuple_GetItem(obj.ptr(), static_cast<ssize_t>(index));
+        if (!result) { throw error_already_set(); }
+        return reinterpret_borrow<object>(result);
+    }
+
+    static void set(handle obj, size_t index, handle val) {
+        // PyTuple_SetItem steals a reference to 'val'
+        if (PyTuple_SetItem(obj.ptr(), static_cast<ssize_t>(index), val.inc_ref().ptr()) != 0) {
+            throw error_already_set();
+        }
+    }
+};
+PYBIND11_NAMESPACE_END(accessor_policies)
+
+/// STL iterator template used for tuple, list, sequence and dict
+template <typename Policy>
+class generic_iterator : public Policy {
+    using It = generic_iterator;
+
+public:
+    using difference_type = ssize_t;
+    using iterator_category = typename Policy::iterator_category;
+    using value_type = typename Policy::value_type;
+    using reference = typename Policy::reference;
+    using pointer = typename Policy::pointer;
+
+    generic_iterator() = default;
+    generic_iterator(handle seq, ssize_t index) : Policy(seq, index) { }
+
+    reference operator*() const { return Policy::dereference(); }
+    reference operator[](difference_type n) const { return *(*this + n); }
+    pointer operator->() const { return **this; }
+
+    It &operator++() { Policy::increment(); return *this; }
+    It operator++(int) { auto copy = *this; Policy::increment(); return copy; }
+    It &operator--() { Policy::decrement(); return *this; }
+    It operator--(int) { auto copy = *this; Policy::decrement(); return copy; }
+    It &operator+=(difference_type n) { Policy::advance(n); return *this; }
+    It &operator-=(difference_type n) { Policy::advance(-n); return *this; }
+
+    friend It operator+(const It &a, difference_type n) { auto copy = a; return copy += n; }
+    friend It operator+(difference_type n, const It &b) { return b + n; }
+    friend It operator-(const It &a, difference_type n) { auto copy = a; return copy -= n; }
+    friend difference_type operator-(const It &a, const It &b) { return a.distance_to(b); }
+
+    friend bool operator==(const It &a, const It &b) { return a.equal(b); }
+    friend bool operator!=(const It &a, const It &b) { return !(a == b); }
+    friend bool operator< (const It &a, const It &b) { return b - a > 0; }
+    friend bool operator> (const It &a, const It &b) { return b < a; }
+    friend bool operator>=(const It &a, const It &b) { return !(a < b); }
+    friend bool operator<=(const It &a, const It &b) { return !(a > b); }
+};
+
+PYBIND11_NAMESPACE_BEGIN(iterator_policies)
+/// Quick proxy class needed to implement ``operator->`` for iterators which can't return pointers
+template <typename T>
+struct arrow_proxy {
+    T value;
+
+    arrow_proxy(T &&value) : value(std::move(value)) { }
+    T *operator->() const { return &value; }
+};
+
+/// Lightweight iterator policy using just a simple pointer: see ``PySequence_Fast_ITEMS``
+class sequence_fast_readonly {
+protected:
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = handle;
+    using reference = const handle;
+    using pointer = arrow_proxy<const handle>;
+
+    sequence_fast_readonly(handle obj, ssize_t n) : ptr(PySequence_Fast_ITEMS(obj.ptr()) + n) { }
+
+    reference dereference() const { return *ptr; }
+    void increment() { ++ptr; }
+    void decrement() { --ptr; }
+    void advance(ssize_t n) { ptr += n; }
+    bool equal(const sequence_fast_readonly &b) const { return ptr == b.ptr; }
+    ssize_t distance_to(const sequence_fast_readonly &b) const { return ptr - b.ptr; }
+
+private:
+    PyObject **ptr;
+};
+
+/// Full read and write access using the sequence protocol: see ``detail::sequence_accessor``
+class sequence_slow_readwrite {
+protected:
+    using iterator_category = std::random_access_iterator_tag;
+    using value_type = object;
+    using reference = sequence_accessor;
+    using pointer = arrow_proxy<const sequence_accessor>;
+
+    sequence_slow_readwrite(handle obj, ssize_t index) : obj(obj), index(index) { }
+
+    reference dereference() const { return {obj, static_cast<size_t>(index)}; }
+    void increment() { ++index; }
+    void decrement() { --index; }
+    void advance(ssize_t n) { index += n; }
+    bool equal(const sequence_slow_readwrite &b) const { return index == b.index; }
+    ssize_t distance_to(const sequence_slow_readwrite &b) const { return index - b.index; }
+
+private:
+    handle obj;
+    ssize_t index;
+};
+
+/// Python's dictionary protocol permits this to be a forward iterator
+class dict_readonly {
+protected:
+    using iterator_category = std::forward_iterator_tag;
+    using value_type = std::pair<handle, handle>;
+    using reference = const value_type;
+    using pointer = arrow_proxy<const value_type>;
+
+    dict_readonly() = default;
+    dict_readonly(handle obj, ssize_t pos) : obj(obj), pos(pos) { increment(); }
+
+    reference dereference() const { return {key, value}; }
+    void increment() { if (!PyDict_Next(obj.ptr(), &pos, &key, &value)) { pos = -1; } }
+    bool equal(const dict_readonly &b) const { return pos == b.pos; }
+
+private:
+    handle obj;
+    PyObject *key = nullptr, *value = nullptr;
+    ssize_t pos = -1;
+};
+PYBIND11_NAMESPACE_END(iterator_policies)
+
+#if !defined(PYPY_VERSION)
+using tuple_iterator = generic_iterator<iterator_policies::sequence_fast_readonly>;
+using list_iterator = generic_iterator<iterator_policies::sequence_fast_readonly>;
+#else
+using tuple_iterator = generic_iterator<iterator_policies::sequence_slow_readwrite>;
+using list_iterator = generic_iterator<iterator_policies::sequence_slow_readwrite>;
+#endif
+
+using sequence_iterator = generic_iterator<iterator_policies::sequence_slow_readwrite>;
+using dict_iterator = generic_iterator<iterator_policies::dict_readonly>;
+
+inline bool PyIterable_Check(PyObject *obj) {
+    PyObject *iter = PyObject_GetIter(obj);
+    if (iter) {
+        Py_DECREF(iter);
+        return true;
+    } else {
+        PyErr_Clear();
+        return false;
+    }
+}
+
+inline bool PyNone_Check(PyObject *o) { return o == Py_None; }
+inline bool PyEllipsis_Check(PyObject *o) { return o == Py_Ellipsis; }
+
+inline bool PyUnicode_Check_Permissive(PyObject *o) { return PyUnicode_Check(o) || PYBIND11_BYTES_CHECK(o); }
+
+inline bool PyStaticMethod_Check(PyObject *o) { return o->ob_type == &PyStaticMethod_Type; }
+
+class kwargs_proxy : public handle {
+public:
+    explicit kwargs_proxy(handle h) : handle(h) { }
+};
+
+class args_proxy : public handle {
+public:
+    explicit args_proxy(handle h) : handle(h) { }
+    kwargs_proxy operator*() const { return kwargs_proxy(*this); }
+};
+
+/// Python argument categories (using PEP 448 terms)
+template <typename T> using is_keyword = std::is_base_of<arg, T>;
+template <typename T> using is_s_unpacking = std::is_same<args_proxy, T>; // * unpacking
+template <typename T> using is_ds_unpacking = std::is_same<kwargs_proxy, T>; // ** unpacking
+template <typename T> using is_positional = satisfies_none_of<T,
+    is_keyword, is_s_unpacking, is_ds_unpacking
+>;
+template <typename T> using is_keyword_or_ds = satisfies_any_of<T, is_keyword, is_ds_unpacking>;
+
+// Call argument collector forward declarations
+template <return_value_policy policy = return_value_policy::automatic_reference>
+class simple_collector;
+template <return_value_policy policy = return_value_policy::automatic_reference>
+class unpacking_collector;
+
+PYBIND11_NAMESPACE_END(detail)
+
+// TODO: After the deprecated constructors are removed, this macro can be simplified by
+//       inheriting ctors: `using Parent::Parent`. It's not an option right now because
+//       the `using` statement triggers the parent deprecation warning even if the ctor
+//       isn't even used.
+#define PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \
+    public: \
+        PYBIND11_DEPRECATED("Use reinterpret_borrow<"#Name">() or reinterpret_steal<"#Name">()") \
+        Name(handle h, bool is_borrowed) : Parent(is_borrowed ? Parent(h, borrowed_t{}) : Parent(h, stolen_t{})) { } \
+        Name(handle h, borrowed_t) : Parent(h, borrowed_t{}) { } \
+        Name(handle h, stolen_t) : Parent(h, stolen_t{}) { } \
+        PYBIND11_DEPRECATED("Use py::isinstance<py::python_type>(obj) instead") \
+        bool check() const { return m_ptr != nullptr && (bool) CheckFun(m_ptr); } \
+        static bool check_(handle h) { return h.ptr() != nullptr && CheckFun(h.ptr()); } \
+        template <typename Policy_> \
+        Name(const ::pybind11::detail::accessor<Policy_> &a) : Name(object(a)) { }
+
+#define PYBIND11_OBJECT_CVT(Name, Parent, CheckFun, ConvertFun) \
+    PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \
+    /* This is deliberately not 'explicit' to allow implicit conversion from object: */ \
+    Name(const object &o) \
+    : Parent(check_(o) ? o.inc_ref().ptr() : ConvertFun(o.ptr()), stolen_t{}) \
+    { if (!m_ptr) throw error_already_set(); } \
+    Name(object &&o) \
+    : Parent(check_(o) ? o.release().ptr() : ConvertFun(o.ptr()), stolen_t{}) \
+    { if (!m_ptr) throw error_already_set(); }
+
+#define PYBIND11_OBJECT_CHECK_FAILED(Name, o) \
+    ::pybind11::type_error("Object of type '" + \
+                           ::pybind11::detail::get_fully_qualified_tp_name(Py_TYPE(o.ptr())) + \
+                           "' is not an instance of '" #Name "'")
+
+#define PYBIND11_OBJECT(Name, Parent, CheckFun) \
+    PYBIND11_OBJECT_COMMON(Name, Parent, CheckFun) \
+    /* This is deliberately not 'explicit' to allow implicit conversion from object: */ \
+    Name(const object &o) : Parent(o) \
+    { if (o && !check_(o)) throw PYBIND11_OBJECT_CHECK_FAILED(Name, o); } \
+    Name(object &&o) : Parent(std::move(o)) \
+    { if (o && !check_(o)) throw PYBIND11_OBJECT_CHECK_FAILED(Name, o); }
+
+#define PYBIND11_OBJECT_DEFAULT(Name, Parent, CheckFun) \
+    PYBIND11_OBJECT(Name, Parent, CheckFun) \
+    Name() : Parent() { }
+
+/// \addtogroup pytypes
+/// @{
+
+/** \rst
+    Wraps a Python iterator so that it can also be used as a C++ input iterator
+
+    Caveat: copying an iterator does not (and cannot) clone the internal
+    state of the Python iterable. This also applies to the post-increment
+    operator. This iterator should only be used to retrieve the current
+    value using ``operator*()``.
+\endrst */
+class iterator : public object {
+public:
+    using iterator_category = std::input_iterator_tag;
+    using difference_type = ssize_t;
+    using value_type = handle;
+    using reference = const handle;
+    using pointer = const handle *;
+
+    PYBIND11_OBJECT_DEFAULT(iterator, object, PyIter_Check)
+
+    iterator& operator++() {
+        advance();
+        return *this;
+    }
+
+    iterator operator++(int) {
+        auto rv = *this;
+        advance();
+        return rv;
+    }
+
+    reference operator*() const {
+        if (m_ptr && !value.ptr()) {
+            auto& self = const_cast<iterator &>(*this);
+            self.advance();
+        }
+        return value;
+    }
+
+    pointer operator->() const { operator*(); return &value; }
+
+    /** \rst
+         The value which marks the end of the iteration. ``it == iterator::sentinel()``
+         is equivalent to catching ``StopIteration`` in Python.
+
+         .. code-block:: cpp
+
+             void foo(py::iterator it) {
+                 while (it != py::iterator::sentinel()) {
+                    // use `*it`
+                    ++it;
+                 }
+             }
+    \endrst */
+    static iterator sentinel() { return {}; }
+
+    friend bool operator==(const iterator &a, const iterator &b) { return a->ptr() == b->ptr(); }
+    friend bool operator!=(const iterator &a, const iterator &b) { return a->ptr() != b->ptr(); }
+
+private:
+    void advance() {
+        value = reinterpret_steal<object>(PyIter_Next(m_ptr));
+        if (PyErr_Occurred()) { throw error_already_set(); }
+    }
+
+private:
+    object value = {};
+};
+
+
+
+class type : public object {
+public:
+    PYBIND11_OBJECT(type, object, PyType_Check)
+
+    /// Return a type handle from a handle or an object
+    static handle handle_of(handle h) { return handle((PyObject*) Py_TYPE(h.ptr())); }
+
+    /// Return a type object from a handle or an object
+    static type of(handle h) { return type(type::handle_of(h), borrowed_t{}); }
+
+    // Defined in pybind11/cast.h
+    /// Convert C++ type to handle if previously registered. Does not convert
+    /// standard types, like int, float. etc. yet.
+    /// See https://github.com/pybind/pybind11/issues/2486
+    template<typename T>
+    static handle handle_of();
+
+    /// Convert C++ type to type if previously registered. Does not convert
+    /// standard types, like int, float. etc. yet.
+    /// See https://github.com/pybind/pybind11/issues/2486
+    template<typename T>
+    static type of() {return type(type::handle_of<T>(), borrowed_t{}); }
+};
+
+class iterable : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(iterable, object, detail::PyIterable_Check)
+};
+
+class bytes;
+
+class str : public object {
+public:
+    PYBIND11_OBJECT_CVT(str, object, detail::PyUnicode_Check_Permissive, raw_str)
+
+    str(const char *c, size_t n)
+        : object(PyUnicode_FromStringAndSize(c, (ssize_t) n), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate string object!");
+    }
+
+    // 'explicit' is explicitly omitted from the following constructors to allow implicit conversion to py::str from C++ string-like objects
+    str(const char *c = "")
+        : object(PyUnicode_FromString(c), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate string object!");
+    }
+
+    str(const std::string &s) : str(s.data(), s.size()) { }
+
+    explicit str(const bytes &b);
+
+    /** \rst
+        Return a string representation of the object. This is analogous to
+        the ``str()`` function in Python.
+    \endrst */
+    explicit str(handle h) : object(raw_str(h.ptr()), stolen_t{}) { if (!m_ptr) throw error_already_set(); }
+
+    operator std::string() const {
+        object temp = *this;
+        if (PyUnicode_Check(m_ptr)) {
+            temp = reinterpret_steal<object>(PyUnicode_AsUTF8String(m_ptr));
+            if (!temp)
+                pybind11_fail("Unable to extract string contents! (encoding issue)");
+        }
+        char *buffer;
+        ssize_t length;
+        if (PYBIND11_BYTES_AS_STRING_AND_SIZE(temp.ptr(), &buffer, &length))
+            pybind11_fail("Unable to extract string contents! (invalid type)");
+        return std::string(buffer, (size_t) length);
+    }
+
+    template <typename... Args>
+    str format(Args &&...args) const {
+        return attr("format")(std::forward<Args>(args)...);
+    }
+
+private:
+    /// Return string representation -- always returns a new reference, even if already a str
+    static PyObject *raw_str(PyObject *op) {
+        PyObject *str_value = PyObject_Str(op);
+#if PY_MAJOR_VERSION < 3
+        if (!str_value) throw error_already_set();
+        PyObject *unicode = PyUnicode_FromEncodedObject(str_value, "utf-8", nullptr);
+        Py_XDECREF(str_value); str_value = unicode;
+#endif
+        return str_value;
+    }
+};
+/// @} pytypes
+
+inline namespace literals {
+/** \rst
+    String literal version of `str`
+ \endrst */
+inline str operator"" _s(const char *s, size_t size) { return {s, size}; }
+} // namespace literals
+
+/// \addtogroup pytypes
+/// @{
+class bytes : public object {
+public:
+    PYBIND11_OBJECT(bytes, object, PYBIND11_BYTES_CHECK)
+
+    // Allow implicit conversion:
+    bytes(const char *c = "")
+        : object(PYBIND11_BYTES_FROM_STRING(c), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate bytes object!");
+    }
+
+    bytes(const char *c, size_t n)
+        : object(PYBIND11_BYTES_FROM_STRING_AND_SIZE(c, (ssize_t) n), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate bytes object!");
+    }
+
+    // Allow implicit conversion:
+    bytes(const std::string &s) : bytes(s.data(), s.size()) { }
+
+    explicit bytes(const pybind11::str &s);
+
+    operator std::string() const {
+        char *buffer;
+        ssize_t length;
+        if (PYBIND11_BYTES_AS_STRING_AND_SIZE(m_ptr, &buffer, &length))
+            pybind11_fail("Unable to extract bytes contents!");
+        return std::string(buffer, (size_t) length);
+    }
+};
+// Note: breathe >= 4.17.0 will fail to build docs if the below two constructors
+// are included in the doxygen group; close here and reopen after as a workaround
+/// @} pytypes
+
+inline bytes::bytes(const pybind11::str &s) {
+    object temp = s;
+    if (PyUnicode_Check(s.ptr())) {
+        temp = reinterpret_steal<object>(PyUnicode_AsUTF8String(s.ptr()));
+        if (!temp)
+            pybind11_fail("Unable to extract string contents! (encoding issue)");
+    }
+    char *buffer;
+    ssize_t length;
+    if (PYBIND11_BYTES_AS_STRING_AND_SIZE(temp.ptr(), &buffer, &length))
+        pybind11_fail("Unable to extract string contents! (invalid type)");
+    auto obj = reinterpret_steal<object>(PYBIND11_BYTES_FROM_STRING_AND_SIZE(buffer, length));
+    if (!obj)
+        pybind11_fail("Could not allocate bytes object!");
+    m_ptr = obj.release().ptr();
+}
+
+inline str::str(const bytes& b) {
+    char *buffer;
+    ssize_t length;
+    if (PYBIND11_BYTES_AS_STRING_AND_SIZE(b.ptr(), &buffer, &length))
+        pybind11_fail("Unable to extract bytes contents!");
+    auto obj = reinterpret_steal<object>(PyUnicode_FromStringAndSize(buffer, (ssize_t) length));
+    if (!obj)
+        pybind11_fail("Could not allocate string object!");
+    m_ptr = obj.release().ptr();
+}
+
+/// \addtogroup pytypes
+/// @{
+class none : public object {
+public:
+    PYBIND11_OBJECT(none, object, detail::PyNone_Check)
+    none() : object(Py_None, borrowed_t{}) { }
+};
+
+class ellipsis : public object {
+public:
+    PYBIND11_OBJECT(ellipsis, object, detail::PyEllipsis_Check)
+    ellipsis() : object(Py_Ellipsis, borrowed_t{}) { }
+};
+
+class bool_ : public object {
+public:
+    PYBIND11_OBJECT_CVT(bool_, object, PyBool_Check, raw_bool)
+    bool_() : object(Py_False, borrowed_t{}) { }
+    // Allow implicit conversion from and to `bool`:
+    bool_(bool value) : object(value ? Py_True : Py_False, borrowed_t{}) { }
+    operator bool() const { return m_ptr && PyLong_AsLong(m_ptr) != 0; }
+
+private:
+    /// Return the truth value of an object -- always returns a new reference
+    static PyObject *raw_bool(PyObject *op) {
+        const auto value = PyObject_IsTrue(op);
+        if (value == -1) return nullptr;
+        return handle(value ? Py_True : Py_False).inc_ref().ptr();
+    }
+};
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+// Converts a value to the given unsigned type.  If an error occurs, you get back (Unsigned) -1;
+// otherwise you get back the unsigned long or unsigned long long value cast to (Unsigned).
+// (The distinction is critically important when casting a returned -1 error value to some other
+// unsigned type: (A)-1 != (B)-1 when A and B are unsigned types of different sizes).
+template <typename Unsigned>
+Unsigned as_unsigned(PyObject *o) {
+    if (sizeof(Unsigned) <= sizeof(unsigned long)
+#if PY_VERSION_HEX < 0x03000000
+            || PyInt_Check(o)
+#endif
+    ) {
+        unsigned long v = PyLong_AsUnsignedLong(o);
+        return v == (unsigned long) -1 && PyErr_Occurred() ? (Unsigned) -1 : (Unsigned) v;
+    }
+    else {
+        unsigned long long v = PyLong_AsUnsignedLongLong(o);
+        return v == (unsigned long long) -1 && PyErr_Occurred() ? (Unsigned) -1 : (Unsigned) v;
+    }
+}
+PYBIND11_NAMESPACE_END(detail)
+
+class int_ : public object {
+public:
+    PYBIND11_OBJECT_CVT(int_, object, PYBIND11_LONG_CHECK, PyNumber_Long)
+    int_() : object(PyLong_FromLong(0), stolen_t{}) { }
+    // Allow implicit conversion from C++ integral types:
+    template <typename T,
+              detail::enable_if_t<std::is_integral<T>::value, int> = 0>
+    int_(T value) {
+        if (sizeof(T) <= sizeof(long)) {
+            if (std::is_signed<T>::value)
+                m_ptr = PyLong_FromLong((long) value);
+            else
+                m_ptr = PyLong_FromUnsignedLong((unsigned long) value);
+        } else {
+            if (std::is_signed<T>::value)
+                m_ptr = PyLong_FromLongLong((long long) value);
+            else
+                m_ptr = PyLong_FromUnsignedLongLong((unsigned long long) value);
+        }
+        if (!m_ptr) pybind11_fail("Could not allocate int object!");
+    }
+
+    template <typename T,
+              detail::enable_if_t<std::is_integral<T>::value, int> = 0>
+    operator T() const {
+        return std::is_unsigned<T>::value
+            ? detail::as_unsigned<T>(m_ptr)
+            : sizeof(T) <= sizeof(long)
+              ? (T) PyLong_AsLong(m_ptr)
+              : (T) PYBIND11_LONG_AS_LONGLONG(m_ptr);
+    }
+};
+
+class float_ : public object {
+public:
+    PYBIND11_OBJECT_CVT(float_, object, PyFloat_Check, PyNumber_Float)
+    // Allow implicit conversion from float/double:
+    float_(float value) : object(PyFloat_FromDouble((double) value), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate float object!");
+    }
+    float_(double value = .0) : object(PyFloat_FromDouble((double) value), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate float object!");
+    }
+    operator float() const { return (float) PyFloat_AsDouble(m_ptr); }
+    operator double() const { return (double) PyFloat_AsDouble(m_ptr); }
+};
+
+class weakref : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(weakref, object, PyWeakref_Check)
+    explicit weakref(handle obj, handle callback = {})
+        : object(PyWeakref_NewRef(obj.ptr(), callback.ptr()), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate weak reference!");
+    }
+};
+
+class slice : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(slice, object, PySlice_Check)
+    slice(ssize_t start_, ssize_t stop_, ssize_t step_) {
+        int_ start(start_), stop(stop_), step(step_);
+        m_ptr = PySlice_New(start.ptr(), stop.ptr(), step.ptr());
+        if (!m_ptr) pybind11_fail("Could not allocate slice object!");
+    }
+    bool compute(size_t length, size_t *start, size_t *stop, size_t *step,
+                 size_t *slicelength) const {
+        return PySlice_GetIndicesEx((PYBIND11_SLICE_OBJECT *) m_ptr,
+                                    (ssize_t) length, (ssize_t *) start,
+                                    (ssize_t *) stop, (ssize_t *) step,
+                                    (ssize_t *) slicelength) == 0;
+    }
+    bool compute(ssize_t length, ssize_t *start, ssize_t *stop, ssize_t *step,
+      ssize_t *slicelength) const {
+      return PySlice_GetIndicesEx((PYBIND11_SLICE_OBJECT *) m_ptr,
+          length, start,
+          stop, step,
+          slicelength) == 0;
+    }
+};
+
+class capsule : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(capsule, object, PyCapsule_CheckExact)
+    PYBIND11_DEPRECATED("Use reinterpret_borrow<capsule>() or reinterpret_steal<capsule>()")
+    capsule(PyObject *ptr, bool is_borrowed) : object(is_borrowed ? object(ptr, borrowed_t{}) : object(ptr, stolen_t{})) { }
+
+    explicit capsule(const void *value, const char *name = nullptr, void (*destructor)(PyObject *) = nullptr)
+        : object(PyCapsule_New(const_cast<void *>(value), name, destructor), stolen_t{}) {
+        if (!m_ptr)
+            pybind11_fail("Could not allocate capsule object!");
+    }
+
+    PYBIND11_DEPRECATED("Please pass a destructor that takes a void pointer as input")
+    capsule(const void *value, void (*destruct)(PyObject *))
+        : object(PyCapsule_New(const_cast<void*>(value), nullptr, destruct), stolen_t{}) {
+        if (!m_ptr)
+            pybind11_fail("Could not allocate capsule object!");
+    }
+
+    capsule(const void *value, void (*destructor)(void *)) {
+        m_ptr = PyCapsule_New(const_cast<void *>(value), nullptr, [](PyObject *o) {
+            auto destructor = reinterpret_cast<void (*)(void *)>(PyCapsule_GetContext(o));
+            void *ptr = PyCapsule_GetPointer(o, nullptr);
+            destructor(ptr);
+        });
+
+        if (!m_ptr)
+            pybind11_fail("Could not allocate capsule object!");
+
+        if (PyCapsule_SetContext(m_ptr, (void *) destructor) != 0)
+            pybind11_fail("Could not set capsule context!");
+    }
+
+    capsule(void (*destructor)()) {
+        m_ptr = PyCapsule_New(reinterpret_cast<void *>(destructor), nullptr, [](PyObject *o) {
+            auto destructor = reinterpret_cast<void (*)()>(PyCapsule_GetPointer(o, nullptr));
+            destructor();
+        });
+
+        if (!m_ptr)
+            pybind11_fail("Could not allocate capsule object!");
+    }
+
+    template <typename T> operator T *() const {
+        return get_pointer<T>();
+    }
+
+    /// Get the pointer the capsule holds.
+    template<typename T = void>
+    T* get_pointer() const {
+        auto name = this->name();
+        T *result = static_cast<T *>(PyCapsule_GetPointer(m_ptr, name));
+        if (!result) pybind11_fail("Unable to extract capsule contents!");
+        return result;
+    }
+
+    /// Replaces a capsule's pointer *without* calling the destructor on the existing one.
+    void set_pointer(const void *value) {
+        if (PyCapsule_SetPointer(m_ptr, const_cast<void *>(value)) != 0)
+            pybind11_fail("Could not set capsule pointer");
+    }
+
+    const char *name() const { return PyCapsule_GetName(m_ptr); }
+};
+
+class tuple : public object {
+public:
+    PYBIND11_OBJECT_CVT(tuple, object, PyTuple_Check, PySequence_Tuple)
+    explicit tuple(size_t size = 0) : object(PyTuple_New((ssize_t) size), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate tuple object!");
+    }
+    size_t size() const { return (size_t) PyTuple_Size(m_ptr); }
+    bool empty() const { return size() == 0; }
+    detail::tuple_accessor operator[](size_t index) const { return {*this, index}; }
+    detail::item_accessor operator[](handle h) const { return object::operator[](h); }
+    detail::tuple_iterator begin() const { return {*this, 0}; }
+    detail::tuple_iterator end() const { return {*this, PyTuple_GET_SIZE(m_ptr)}; }
+};
+
+class dict : public object {
+public:
+    PYBIND11_OBJECT_CVT(dict, object, PyDict_Check, raw_dict)
+    dict() : object(PyDict_New(), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate dict object!");
+    }
+    template <typename... Args,
+              typename = detail::enable_if_t<detail::all_of<detail::is_keyword_or_ds<Args>...>::value>,
+              // MSVC workaround: it can't compile an out-of-line definition, so defer the collector
+              typename collector = detail::deferred_t<detail::unpacking_collector<>, Args...>>
+    explicit dict(Args &&...args) : dict(collector(std::forward<Args>(args)...).kwargs()) { }
+
+    size_t size() const { return (size_t) PyDict_Size(m_ptr); }
+    bool empty() const { return size() == 0; }
+    detail::dict_iterator begin() const { return {*this, 0}; }
+    detail::dict_iterator end() const { return {}; }
+    void clear() const { PyDict_Clear(ptr()); }
+    template <typename T> bool contains(T &&key) const {
+        return PyDict_Contains(m_ptr, detail::object_or_cast(std::forward<T>(key)).ptr()) == 1;
+    }
+
+private:
+    /// Call the `dict` Python type -- always returns a new reference
+    static PyObject *raw_dict(PyObject *op) {
+        if (PyDict_Check(op))
+            return handle(op).inc_ref().ptr();
+        return PyObject_CallFunctionObjArgs((PyObject *) &PyDict_Type, op, nullptr);
+    }
+};
+
+class sequence : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(sequence, object, PySequence_Check)
+    size_t size() const {
+        ssize_t result = PySequence_Size(m_ptr);
+        if (result == -1)
+            throw error_already_set();
+        return (size_t) result;
+    }
+    bool empty() const { return size() == 0; }
+    detail::sequence_accessor operator[](size_t index) const { return {*this, index}; }
+    detail::item_accessor operator[](handle h) const { return object::operator[](h); }
+    detail::sequence_iterator begin() const { return {*this, 0}; }
+    detail::sequence_iterator end() const { return {*this, PySequence_Size(m_ptr)}; }
+};
+
+class list : public object {
+public:
+    PYBIND11_OBJECT_CVT(list, object, PyList_Check, PySequence_List)
+    explicit list(size_t size = 0) : object(PyList_New((ssize_t) size), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate list object!");
+    }
+    size_t size() const { return (size_t) PyList_Size(m_ptr); }
+    bool empty() const { return size() == 0; }
+    detail::list_accessor operator[](size_t index) const { return {*this, index}; }
+    detail::item_accessor operator[](handle h) const { return object::operator[](h); }
+    detail::list_iterator begin() const { return {*this, 0}; }
+    detail::list_iterator end() const { return {*this, PyList_GET_SIZE(m_ptr)}; }
+    template <typename T> void append(T &&val) const {
+        PyList_Append(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr());
+    }
+    template <typename T> void insert(size_t index, T &&val) const {
+        PyList_Insert(m_ptr, static_cast<ssize_t>(index),
+            detail::object_or_cast(std::forward<T>(val)).ptr());
+    }
+};
+
+class args : public tuple { PYBIND11_OBJECT_DEFAULT(args, tuple, PyTuple_Check) };
+class kwargs : public dict { PYBIND11_OBJECT_DEFAULT(kwargs, dict, PyDict_Check)  };
+
+class set : public object {
+public:
+    PYBIND11_OBJECT_CVT(set, object, PySet_Check, PySet_New)
+    set() : object(PySet_New(nullptr), stolen_t{}) {
+        if (!m_ptr) pybind11_fail("Could not allocate set object!");
+    }
+    size_t size() const { return (size_t) PySet_Size(m_ptr); }
+    bool empty() const { return size() == 0; }
+    template <typename T> bool add(T &&val) const {
+        return PySet_Add(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) == 0;
+    }
+    void clear() const { PySet_Clear(m_ptr); }
+    template <typename T> bool contains(T &&val) const {
+        return PySet_Contains(m_ptr, detail::object_or_cast(std::forward<T>(val)).ptr()) == 1;
+    }
+};
+
+class function : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(function, object, PyCallable_Check)
+    handle cpp_function() const {
+        handle fun = detail::get_function(m_ptr);
+        if (fun && PyCFunction_Check(fun.ptr()))
+            return fun;
+        return handle();
+    }
+    bool is_cpp_function() const { return (bool) cpp_function(); }
+};
+
+class staticmethod : public object {
+public:
+    PYBIND11_OBJECT_CVT(staticmethod, object, detail::PyStaticMethod_Check, PyStaticMethod_New)
+};
+
+class buffer : public object {
+public:
+    PYBIND11_OBJECT_DEFAULT(buffer, object, PyObject_CheckBuffer)
+
+    buffer_info request(bool writable = false) const {
+        int flags = PyBUF_STRIDES | PyBUF_FORMAT;
+        if (writable) flags |= PyBUF_WRITABLE;
+        auto *view = new Py_buffer();
+        if (PyObject_GetBuffer(m_ptr, view, flags) != 0) {
+            delete view;
+            throw error_already_set();
+        }
+        return buffer_info(view);
+    }
+};
+
+class memoryview : public object {
+public:
+    PYBIND11_OBJECT_CVT(memoryview, object, PyMemoryView_Check, PyMemoryView_FromObject)
+
+    /** \rst
+        Creates ``memoryview`` from ``buffer_info``.
+
+        ``buffer_info`` must be created from ``buffer::request()``. Otherwise
+        throws an exception.
+
+        For creating a ``memoryview`` from objects that support buffer protocol,
+        use ``memoryview(const object& obj)`` instead of this constructor.
+     \endrst */
+    explicit memoryview(const buffer_info& info) {
+        if (!info.view())
+            pybind11_fail("Prohibited to create memoryview without Py_buffer");
+        // Note: PyMemoryView_FromBuffer never increments obj reference.
+        m_ptr = (info.view()->obj) ?
+            PyMemoryView_FromObject(info.view()->obj) :
+            PyMemoryView_FromBuffer(info.view());
+        if (!m_ptr)
+            pybind11_fail("Unable to create memoryview from buffer descriptor");
+    }
+
+    /** \rst
+        Creates ``memoryview`` from static buffer.
+
+        This method is meant for providing a ``memoryview`` for C/C++ buffer not
+        managed by Python. The caller is responsible for managing the lifetime
+        of ``ptr`` and ``format``, which MUST outlive the memoryview constructed
+        here.
+
+        See also: Python C API documentation for `PyMemoryView_FromBuffer`_.
+
+        .. _PyMemoryView_FromBuffer: https://docs.python.org/c-api/memoryview.html#c.PyMemoryView_FromBuffer
+
+        :param ptr: Pointer to the buffer.
+        :param itemsize: Byte size of an element.
+        :param format: Pointer to the null-terminated format string. For
+            homogeneous Buffers, this should be set to
+            ``format_descriptor<T>::value``.
+        :param shape: Shape of the tensor (1 entry per dimension).
+        :param strides: Number of bytes between adjacent entries (for each
+            per dimension).
+        :param readonly: Flag to indicate if the underlying storage may be
+            written to.
+     \endrst */
+    static memoryview from_buffer(
+        void *ptr, ssize_t itemsize, const char *format,
+        detail::any_container<ssize_t> shape,
+        detail::any_container<ssize_t> strides, bool readonly = false);
+
+    static memoryview from_buffer(
+        const void *ptr, ssize_t itemsize, const char *format,
+        detail::any_container<ssize_t> shape,
+        detail::any_container<ssize_t> strides) {
+        return memoryview::from_buffer(
+            const_cast<void*>(ptr), itemsize, format, shape, strides, true);
+    }
+
+    template<typename T>
+    static memoryview from_buffer(
+        T *ptr, detail::any_container<ssize_t> shape,
+        detail::any_container<ssize_t> strides, bool readonly = false) {
+        return memoryview::from_buffer(
+            reinterpret_cast<void*>(ptr), sizeof(T),
+            format_descriptor<T>::value, shape, strides, readonly);
+    }
+
+    template<typename T>
+    static memoryview from_buffer(
+        const T *ptr, detail::any_container<ssize_t> shape,
+        detail::any_container<ssize_t> strides) {
+        return memoryview::from_buffer(
+            const_cast<T*>(ptr), shape, strides, true);
+    }
+
+#if PY_MAJOR_VERSION >= 3
+    /** \rst
+        Creates ``memoryview`` from static memory.
+
+        This method is meant for providing a ``memoryview`` for C/C++ buffer not
+        managed by Python. The caller is responsible for managing the lifetime
+        of ``mem``, which MUST outlive the memoryview constructed here.
+
+        This method is not available in Python 2.
+
+        See also: Python C API documentation for `PyMemoryView_FromBuffer`_.
+
+        .. _PyMemoryView_FromMemory: https://docs.python.org/c-api/memoryview.html#c.PyMemoryView_FromMemory
+     \endrst */
+    static memoryview from_memory(void *mem, ssize_t size, bool readonly = false) {
+        PyObject* ptr = PyMemoryView_FromMemory(
+            reinterpret_cast<char*>(mem), size,
+            (readonly) ? PyBUF_READ : PyBUF_WRITE);
+        if (!ptr)
+            pybind11_fail("Could not allocate memoryview object!");
+        return memoryview(object(ptr, stolen_t{}));
+    }
+
+    static memoryview from_memory(const void *mem, ssize_t size) {
+        return memoryview::from_memory(const_cast<void*>(mem), size, true);
+    }
+#endif
+};
+
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+inline memoryview memoryview::from_buffer(
+    void *ptr, ssize_t itemsize, const char* format,
+    detail::any_container<ssize_t> shape,
+    detail::any_container<ssize_t> strides, bool readonly) {
+    size_t ndim = shape->size();
+    if (ndim != strides->size())
+        pybind11_fail("memoryview: shape length doesn't match strides length");
+    ssize_t size = ndim ? 1 : 0;
+    for (size_t i = 0; i < ndim; ++i)
+        size *= (*shape)[i];
+    Py_buffer view;
+    view.buf = ptr;
+    view.obj = nullptr;
+    view.len = size * itemsize;
+    view.readonly = static_cast<int>(readonly);
+    view.itemsize = itemsize;
+    view.format = const_cast<char*>(format);
+    view.ndim = static_cast<int>(ndim);
+    view.shape = shape->data();
+    view.strides = strides->data();
+    view.suboffsets = nullptr;
+    view.internal = nullptr;
+    PyObject* obj = PyMemoryView_FromBuffer(&view);
+    if (!obj)
+        throw error_already_set();
+    return memoryview(object(obj, stolen_t{}));
+}
+#endif  // DOXYGEN_SHOULD_SKIP_THIS
+/// @} pytypes
+
+/// \addtogroup python_builtins
+/// @{
+inline size_t len(handle h) {
+    ssize_t result = PyObject_Length(h.ptr());
+    if (result < 0)
+        pybind11_fail("Unable to compute length of object");
+    return (size_t) result;
+}
+
+inline size_t len_hint(handle h) {
+#if PY_VERSION_HEX >= 0x03040000
+    ssize_t result = PyObject_LengthHint(h.ptr(), 0);
+#else
+    ssize_t result = PyObject_Length(h.ptr());
+#endif
+    if (result < 0) {
+        // Sometimes a length can't be determined at all (eg generators)
+        // In which case simply return 0
+        PyErr_Clear();
+        return 0;
+    }
+    return (size_t) result;
+}
+
+inline str repr(handle h) {
+    PyObject *str_value = PyObject_Repr(h.ptr());
+    if (!str_value) throw error_already_set();
+#if PY_MAJOR_VERSION < 3
+    PyObject *unicode = PyUnicode_FromEncodedObject(str_value, "utf-8", nullptr);
+    Py_XDECREF(str_value); str_value = unicode;
+    if (!str_value) throw error_already_set();
+#endif
+    return reinterpret_steal<str>(str_value);
+}
+
+inline iterator iter(handle obj) {
+    PyObject *result = PyObject_GetIter(obj.ptr());
+    if (!result) { throw error_already_set(); }
+    return reinterpret_steal<iterator>(result);
+}
+/// @} python_builtins
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+template <typename D> iterator object_api<D>::begin() const { return iter(derived()); }
+template <typename D> iterator object_api<D>::end() const { return iterator::sentinel(); }
+template <typename D> item_accessor object_api<D>::operator[](handle key) const {
+    return {derived(), reinterpret_borrow<object>(key)};
+}
+template <typename D> item_accessor object_api<D>::operator[](const char *key) const {
+    return {derived(), pybind11::str(key)};
+}
+template <typename D> obj_attr_accessor object_api<D>::attr(handle key) const {
+    return {derived(), reinterpret_borrow<object>(key)};
+}
+template <typename D> str_attr_accessor object_api<D>::attr(const char *key) const {
+    return {derived(), key};
+}
+template <typename D> args_proxy object_api<D>::operator*() const {
+    return args_proxy(derived().ptr());
+}
+template <typename D> template <typename T> bool object_api<D>::contains(T &&item) const {
+    return attr("__contains__")(std::forward<T>(item)).template cast<bool>();
+}
+
+template <typename D>
+pybind11::str object_api<D>::str() const { return pybind11::str(derived()); }
+
+template <typename D>
+str_attr_accessor object_api<D>::doc() const { return attr("__doc__"); }
+
+template <typename D>
+handle object_api<D>::get_type() const { return type::handle_of(derived()); }
+
+template <typename D>
+bool object_api<D>::rich_compare(object_api const &other, int value) const {
+    int rv = PyObject_RichCompareBool(derived().ptr(), other.derived().ptr(), value);
+    if (rv == -1)
+        throw error_already_set();
+    return rv == 1;
+}
+
+#define PYBIND11_MATH_OPERATOR_UNARY(op, fn)                                   \
+    template <typename D> object object_api<D>::op() const {                   \
+        object result = reinterpret_steal<object>(fn(derived().ptr()));        \
+        if (!result.ptr())                                                     \
+            throw error_already_set();                                         \
+        return result;                                                         \
+    }
+
+#define PYBIND11_MATH_OPERATOR_BINARY(op, fn)                                  \
+    template <typename D>                                                      \
+    object object_api<D>::op(object_api const &other) const {                  \
+        object result = reinterpret_steal<object>(                             \
+            fn(derived().ptr(), other.derived().ptr()));                       \
+        if (!result.ptr())                                                     \
+            throw error_already_set();                                         \
+        return result;                                                         \
+    }
+
+PYBIND11_MATH_OPERATOR_UNARY (operator~,   PyNumber_Invert)
+PYBIND11_MATH_OPERATOR_UNARY (operator-,   PyNumber_Negative)
+PYBIND11_MATH_OPERATOR_BINARY(operator+,   PyNumber_Add)
+PYBIND11_MATH_OPERATOR_BINARY(operator+=,  PyNumber_InPlaceAdd)
+PYBIND11_MATH_OPERATOR_BINARY(operator-,   PyNumber_Subtract)
+PYBIND11_MATH_OPERATOR_BINARY(operator-=,  PyNumber_InPlaceSubtract)
+PYBIND11_MATH_OPERATOR_BINARY(operator*,   PyNumber_Multiply)
+PYBIND11_MATH_OPERATOR_BINARY(operator*=,  PyNumber_InPlaceMultiply)
+PYBIND11_MATH_OPERATOR_BINARY(operator/,   PyNumber_TrueDivide)
+PYBIND11_MATH_OPERATOR_BINARY(operator/=,  PyNumber_InPlaceTrueDivide)
+PYBIND11_MATH_OPERATOR_BINARY(operator|,   PyNumber_Or)
+PYBIND11_MATH_OPERATOR_BINARY(operator|=,  PyNumber_InPlaceOr)
+PYBIND11_MATH_OPERATOR_BINARY(operator&,   PyNumber_And)
+PYBIND11_MATH_OPERATOR_BINARY(operator&=,  PyNumber_InPlaceAnd)
+PYBIND11_MATH_OPERATOR_BINARY(operator^,   PyNumber_Xor)
+PYBIND11_MATH_OPERATOR_BINARY(operator^=,  PyNumber_InPlaceXor)
+PYBIND11_MATH_OPERATOR_BINARY(operator<<,  PyNumber_Lshift)
+PYBIND11_MATH_OPERATOR_BINARY(operator<<=, PyNumber_InPlaceLshift)
+PYBIND11_MATH_OPERATOR_BINARY(operator>>,  PyNumber_Rshift)
+PYBIND11_MATH_OPERATOR_BINARY(operator>>=, PyNumber_InPlaceRshift)
+
+#undef PYBIND11_MATH_OPERATOR_UNARY
+#undef PYBIND11_MATH_OPERATOR_BINARY
+
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/stl.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/stl.h
new file mode 100644
index 0000000..721bb66
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/stl.h
@@ -0,0 +1,388 @@
+/*
+    pybind11/stl.h: Transparent conversion for STL data types
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "pybind11.h"
+#include <set>
+#include <unordered_set>
+#include <map>
+#include <unordered_map>
+#include <iostream>
+#include <list>
+#include <deque>
+#include <valarray>
+
+#if defined(_MSC_VER)
+#pragma warning(push)
+#pragma warning(disable: 4127) // warning C4127: Conditional expression is constant
+#endif
+
+#ifdef __has_include
+// std::optional (but including it in c++14 mode isn't allowed)
+#  if defined(PYBIND11_CPP17) && __has_include(<optional>)
+#    include <optional>
+#    define PYBIND11_HAS_OPTIONAL 1
+#  endif
+// std::experimental::optional (but not allowed in c++11 mode)
+#  if defined(PYBIND11_CPP14) && (__has_include(<experimental/optional>) && \
+                                 !__has_include(<optional>))
+#    include <experimental/optional>
+#    define PYBIND11_HAS_EXP_OPTIONAL 1
+#  endif
+// std::variant
+#  if defined(PYBIND11_CPP17) && __has_include(<variant>)
+#    include <variant>
+#    define PYBIND11_HAS_VARIANT 1
+#  endif
+#elif defined(_MSC_VER) && defined(PYBIND11_CPP17)
+#  include <optional>
+#  include <variant>
+#  define PYBIND11_HAS_OPTIONAL 1
+#  define PYBIND11_HAS_VARIANT 1
+#endif
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+/// Extracts an const lvalue reference or rvalue reference for U based on the type of T (e.g. for
+/// forwarding a container element).  Typically used indirect via forwarded_type(), below.
+template <typename T, typename U>
+using forwarded_type = conditional_t<
+    std::is_lvalue_reference<T>::value, remove_reference_t<U> &, remove_reference_t<U> &&>;
+
+/// Forwards a value U as rvalue or lvalue according to whether T is rvalue or lvalue; typically
+/// used for forwarding a container's elements.
+template <typename T, typename U>
+forwarded_type<T, U> forward_like(U &&u) {
+    return std::forward<detail::forwarded_type<T, U>>(std::forward<U>(u));
+}
+
+template <typename Type, typename Key> struct set_caster {
+    using type = Type;
+    using key_conv = make_caster<Key>;
+
+    bool load(handle src, bool convert) {
+        if (!isinstance<pybind11::set>(src))
+            return false;
+        auto s = reinterpret_borrow<pybind11::set>(src);
+        value.clear();
+        for (auto entry : s) {
+            key_conv conv;
+            if (!conv.load(entry, convert))
+                return false;
+            value.insert(cast_op<Key &&>(std::move(conv)));
+        }
+        return true;
+    }
+
+    template <typename T>
+    static handle cast(T &&src, return_value_policy policy, handle parent) {
+        if (!std::is_lvalue_reference<T>::value)
+            policy = return_value_policy_override<Key>::policy(policy);
+        pybind11::set s;
+        for (auto &&value : src) {
+            auto value_ = reinterpret_steal<object>(key_conv::cast(forward_like<T>(value), policy, parent));
+            if (!value_ || !s.add(value_))
+                return handle();
+        }
+        return s.release();
+    }
+
+    PYBIND11_TYPE_CASTER(type, _("Set[") + key_conv::name + _("]"));
+};
+
+template <typename Type, typename Key, typename Value> struct map_caster {
+    using key_conv   = make_caster<Key>;
+    using value_conv = make_caster<Value>;
+
+    bool load(handle src, bool convert) {
+        if (!isinstance<dict>(src))
+            return false;
+        auto d = reinterpret_borrow<dict>(src);
+        value.clear();
+        for (auto it : d) {
+            key_conv kconv;
+            value_conv vconv;
+            if (!kconv.load(it.first.ptr(), convert) ||
+                !vconv.load(it.second.ptr(), convert))
+                return false;
+            value.emplace(cast_op<Key &&>(std::move(kconv)), cast_op<Value &&>(std::move(vconv)));
+        }
+        return true;
+    }
+
+    template <typename T>
+    static handle cast(T &&src, return_value_policy policy, handle parent) {
+        dict d;
+        return_value_policy policy_key = policy;
+        return_value_policy policy_value = policy;
+        if (!std::is_lvalue_reference<T>::value) {
+            policy_key = return_value_policy_override<Key>::policy(policy_key);
+            policy_value = return_value_policy_override<Value>::policy(policy_value);
+        }
+        for (auto &&kv : src) {
+            auto key = reinterpret_steal<object>(key_conv::cast(forward_like<T>(kv.first), policy_key, parent));
+            auto value = reinterpret_steal<object>(value_conv::cast(forward_like<T>(kv.second), policy_value, parent));
+            if (!key || !value)
+                return handle();
+            d[key] = value;
+        }
+        return d.release();
+    }
+
+    PYBIND11_TYPE_CASTER(Type, _("Dict[") + key_conv::name + _(", ") + value_conv::name + _("]"));
+};
+
+template <typename Type, typename Value> struct list_caster {
+    using value_conv = make_caster<Value>;
+
+    bool load(handle src, bool convert) {
+        if (!isinstance<sequence>(src) || isinstance<str>(src))
+            return false;
+        auto s = reinterpret_borrow<sequence>(src);
+        value.clear();
+        reserve_maybe(s, &value);
+        for (auto it : s) {
+            value_conv conv;
+            if (!conv.load(it, convert))
+                return false;
+            value.push_back(cast_op<Value &&>(std::move(conv)));
+        }
+        return true;
+    }
+
+private:
+    template <typename T = Type,
+              enable_if_t<std::is_same<decltype(std::declval<T>().reserve(0)), void>::value, int> = 0>
+    void reserve_maybe(sequence s, Type *) { value.reserve(s.size()); }
+    void reserve_maybe(sequence, void *) { }
+
+public:
+    template <typename T>
+    static handle cast(T &&src, return_value_policy policy, handle parent) {
+        if (!std::is_lvalue_reference<T>::value)
+            policy = return_value_policy_override<Value>::policy(policy);
+        list l(src.size());
+        size_t index = 0;
+        for (auto &&value : src) {
+            auto value_ = reinterpret_steal<object>(value_conv::cast(forward_like<T>(value), policy, parent));
+            if (!value_)
+                return handle();
+            PyList_SET_ITEM(l.ptr(), (ssize_t) index++, value_.release().ptr()); // steals a reference
+        }
+        return l.release();
+    }
+
+    PYBIND11_TYPE_CASTER(Type, _("List[") + value_conv::name + _("]"));
+};
+
+template <typename Type, typename Alloc> struct type_caster<std::vector<Type, Alloc>>
+ : list_caster<std::vector<Type, Alloc>, Type> { };
+
+template <typename Type, typename Alloc> struct type_caster<std::deque<Type, Alloc>>
+ : list_caster<std::deque<Type, Alloc>, Type> { };
+
+template <typename Type, typename Alloc> struct type_caster<std::list<Type, Alloc>>
+ : list_caster<std::list<Type, Alloc>, Type> { };
+
+template <typename ArrayType, typename Value, bool Resizable, size_t Size = 0> struct array_caster {
+    using value_conv = make_caster<Value>;
+
+private:
+    template <bool R = Resizable>
+    bool require_size(enable_if_t<R, size_t> size) {
+        if (value.size() != size)
+            value.resize(size);
+        return true;
+    }
+    template <bool R = Resizable>
+    bool require_size(enable_if_t<!R, size_t> size) {
+        return size == Size;
+    }
+
+public:
+    bool load(handle src, bool convert) {
+        if (!isinstance<sequence>(src))
+            return false;
+        auto l = reinterpret_borrow<sequence>(src);
+        if (!require_size(l.size()))
+            return false;
+        size_t ctr = 0;
+        for (auto it : l) {
+            value_conv conv;
+            if (!conv.load(it, convert))
+                return false;
+            value[ctr++] = cast_op<Value &&>(std::move(conv));
+        }
+        return true;
+    }
+
+    template <typename T>
+    static handle cast(T &&src, return_value_policy policy, handle parent) {
+        list l(src.size());
+        size_t index = 0;
+        for (auto &&value : src) {
+            auto value_ = reinterpret_steal<object>(value_conv::cast(forward_like<T>(value), policy, parent));
+            if (!value_)
+                return handle();
+            PyList_SET_ITEM(l.ptr(), (ssize_t) index++, value_.release().ptr()); // steals a reference
+        }
+        return l.release();
+    }
+
+    PYBIND11_TYPE_CASTER(ArrayType, _("List[") + value_conv::name + _<Resizable>(_(""), _("[") + _<Size>() + _("]")) + _("]"));
+};
+
+template <typename Type, size_t Size> struct type_caster<std::array<Type, Size>>
+ : array_caster<std::array<Type, Size>, Type, false, Size> { };
+
+template <typename Type> struct type_caster<std::valarray<Type>>
+ : array_caster<std::valarray<Type>, Type, true> { };
+
+template <typename Key, typename Compare, typename Alloc> struct type_caster<std::set<Key, Compare, Alloc>>
+  : set_caster<std::set<Key, Compare, Alloc>, Key> { };
+
+template <typename Key, typename Hash, typename Equal, typename Alloc> struct type_caster<std::unordered_set<Key, Hash, Equal, Alloc>>
+  : set_caster<std::unordered_set<Key, Hash, Equal, Alloc>, Key> { };
+
+template <typename Key, typename Value, typename Compare, typename Alloc> struct type_caster<std::map<Key, Value, Compare, Alloc>>
+  : map_caster<std::map<Key, Value, Compare, Alloc>, Key, Value> { };
+
+template <typename Key, typename Value, typename Hash, typename Equal, typename Alloc> struct type_caster<std::unordered_map<Key, Value, Hash, Equal, Alloc>>
+  : map_caster<std::unordered_map<Key, Value, Hash, Equal, Alloc>, Key, Value> { };
+
+// This type caster is intended to be used for std::optional and std::experimental::optional
+template<typename T> struct optional_caster {
+    using value_conv = make_caster<typename T::value_type>;
+
+    template <typename T_>
+    static handle cast(T_ &&src, return_value_policy policy, handle parent) {
+        if (!src)
+            return none().inc_ref();
+        if (!std::is_lvalue_reference<T>::value) {
+            policy = return_value_policy_override<T>::policy(policy);
+        }
+        return value_conv::cast(*std::forward<T_>(src), policy, parent);
+    }
+
+    bool load(handle src, bool convert) {
+        if (!src) {
+            return false;
+        } else if (src.is_none()) {
+            return true;  // default-constructed value is already empty
+        }
+        value_conv inner_caster;
+        if (!inner_caster.load(src, convert))
+            return false;
+
+        value.emplace(cast_op<typename T::value_type &&>(std::move(inner_caster)));
+        return true;
+    }
+
+    PYBIND11_TYPE_CASTER(T, _("Optional[") + value_conv::name + _("]"));
+};
+
+#if defined(PYBIND11_HAS_OPTIONAL)
+template<typename T> struct type_caster<std::optional<T>>
+    : public optional_caster<std::optional<T>> {};
+
+template<> struct type_caster<std::nullopt_t>
+    : public void_caster<std::nullopt_t> {};
+#endif
+
+#if defined(PYBIND11_HAS_EXP_OPTIONAL)
+template<typename T> struct type_caster<std::experimental::optional<T>>
+    : public optional_caster<std::experimental::optional<T>> {};
+
+template<> struct type_caster<std::experimental::nullopt_t>
+    : public void_caster<std::experimental::nullopt_t> {};
+#endif
+
+/// Visit a variant and cast any found type to Python
+struct variant_caster_visitor {
+    return_value_policy policy;
+    handle parent;
+
+    using result_type = handle; // required by boost::variant in C++11
+
+    template <typename T>
+    result_type operator()(T &&src) const {
+        return make_caster<T>::cast(std::forward<T>(src), policy, parent);
+    }
+};
+
+/// Helper class which abstracts away variant's `visit` function. `std::variant` and similar
+/// `namespace::variant` types which provide a `namespace::visit()` function are handled here
+/// automatically using argument-dependent lookup. Users can provide specializations for other
+/// variant-like classes, e.g. `boost::variant` and `boost::apply_visitor`.
+template <template<typename...> class Variant>
+struct visit_helper {
+    template <typename... Args>
+    static auto call(Args &&...args) -> decltype(visit(std::forward<Args>(args)...)) {
+        return visit(std::forward<Args>(args)...);
+    }
+};
+
+/// Generic variant caster
+template <typename Variant> struct variant_caster;
+
+template <template<typename...> class V, typename... Ts>
+struct variant_caster<V<Ts...>> {
+    static_assert(sizeof...(Ts) > 0, "Variant must consist of at least one alternative.");
+
+    template <typename U, typename... Us>
+    bool load_alternative(handle src, bool convert, type_list<U, Us...>) {
+        auto caster = make_caster<U>();
+        if (caster.load(src, convert)) {
+            value = cast_op<U>(caster);
+            return true;
+        }
+        return load_alternative(src, convert, type_list<Us...>{});
+    }
+
+    bool load_alternative(handle, bool, type_list<>) { return false; }
+
+    bool load(handle src, bool convert) {
+        // Do a first pass without conversions to improve constructor resolution.
+        // E.g. `py::int_(1).cast<variant<double, int>>()` needs to fill the `int`
+        // slot of the variant. Without two-pass loading `double` would be filled
+        // because it appears first and a conversion is possible.
+        if (convert && load_alternative(src, false, type_list<Ts...>{}))
+            return true;
+        return load_alternative(src, convert, type_list<Ts...>{});
+    }
+
+    template <typename Variant>
+    static handle cast(Variant &&src, return_value_policy policy, handle parent) {
+        return visit_helper<V>::call(variant_caster_visitor{policy, parent},
+                                     std::forward<Variant>(src));
+    }
+
+    using Type = V<Ts...>;
+    PYBIND11_TYPE_CASTER(Type, _("Union[") + detail::concat(make_caster<Ts>::name...) + _("]"));
+};
+
+#if defined(PYBIND11_HAS_VARIANT)
+template <typename... Ts>
+struct type_caster<std::variant<Ts...>> : variant_caster<std::variant<Ts...>> { };
+#endif
+
+PYBIND11_NAMESPACE_END(detail)
+
+inline std::ostream &operator<<(std::ostream &os, const handle &obj) {
+    os << (std::string) str(obj);
+    return os;
+}
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
+
+#if defined(_MSC_VER)
+#pragma warning(pop)
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/stl_bind.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/stl_bind.h
new file mode 100644
index 0000000..9d8ed0c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/include/pybind11/stl_bind.h
@@ -0,0 +1,661 @@
+/*
+    pybind11/std_bind.h: Binding generators for STL data types
+
+    Copyright (c) 2016 Sergey Lyskov and Wenzel Jakob
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#pragma once
+
+#include "detail/common.h"
+#include "operators.h"
+
+#include <algorithm>
+#include <sstream>
+
+PYBIND11_NAMESPACE_BEGIN(PYBIND11_NAMESPACE)
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+/* SFINAE helper class used by 'is_comparable */
+template <typename T>  struct container_traits {
+    template <typename T2> static std::true_type test_comparable(decltype(std::declval<const T2 &>() == std::declval<const T2 &>())*);
+    template <typename T2> static std::false_type test_comparable(...);
+    template <typename T2> static std::true_type test_value(typename T2::value_type *);
+    template <typename T2> static std::false_type test_value(...);
+    template <typename T2> static std::true_type test_pair(typename T2::first_type *, typename T2::second_type *);
+    template <typename T2> static std::false_type test_pair(...);
+
+    static constexpr const bool is_comparable = std::is_same<std::true_type, decltype(test_comparable<T>(nullptr))>::value;
+    static constexpr const bool is_pair = std::is_same<std::true_type, decltype(test_pair<T>(nullptr, nullptr))>::value;
+    static constexpr const bool is_vector = std::is_same<std::true_type, decltype(test_value<T>(nullptr))>::value;
+    static constexpr const bool is_element = !is_pair && !is_vector;
+};
+
+/* Default: is_comparable -> std::false_type */
+template <typename T, typename SFINAE = void>
+struct is_comparable : std::false_type { };
+
+/* For non-map data structures, check whether operator== can be instantiated */
+template <typename T>
+struct is_comparable<
+    T, enable_if_t<container_traits<T>::is_element &&
+                   container_traits<T>::is_comparable>>
+    : std::true_type { };
+
+/* For a vector/map data structure, recursively check the value type (which is std::pair for maps) */
+template <typename T>
+struct is_comparable<T, enable_if_t<container_traits<T>::is_vector>> {
+    static constexpr const bool value =
+        is_comparable<typename T::value_type>::value;
+};
+
+/* For pairs, recursively check the two data types */
+template <typename T>
+struct is_comparable<T, enable_if_t<container_traits<T>::is_pair>> {
+    static constexpr const bool value =
+        is_comparable<typename T::first_type>::value &&
+        is_comparable<typename T::second_type>::value;
+};
+
+/* Fallback functions */
+template <typename, typename, typename... Args> void vector_if_copy_constructible(const Args &...) { }
+template <typename, typename, typename... Args> void vector_if_equal_operator(const Args &...) { }
+template <typename, typename, typename... Args> void vector_if_insertion_operator(const Args &...) { }
+template <typename, typename, typename... Args> void vector_modifiers(const Args &...) { }
+
+template<typename Vector, typename Class_>
+void vector_if_copy_constructible(enable_if_t<is_copy_constructible<Vector>::value, Class_> &cl) {
+    cl.def(init<const Vector &>(), "Copy constructor");
+}
+
+template<typename Vector, typename Class_>
+void vector_if_equal_operator(enable_if_t<is_comparable<Vector>::value, Class_> &cl) {
+    using T = typename Vector::value_type;
+
+    cl.def(self == self);
+    cl.def(self != self);
+
+    cl.def("count",
+        [](const Vector &v, const T &x) {
+            return std::count(v.begin(), v.end(), x);
+        },
+        arg("x"),
+        "Return the number of times ``x`` appears in the list"
+    );
+
+    cl.def("remove", [](Vector &v, const T &x) {
+            auto p = std::find(v.begin(), v.end(), x);
+            if (p != v.end())
+                v.erase(p);
+            else
+                throw value_error();
+        },
+        arg("x"),
+        "Remove the first item from the list whose value is x. "
+        "It is an error if there is no such item."
+    );
+
+    cl.def("__contains__",
+        [](const Vector &v, const T &x) {
+            return std::find(v.begin(), v.end(), x) != v.end();
+        },
+        arg("x"),
+        "Return true the container contains ``x``"
+    );
+}
+
+// Vector modifiers -- requires a copyable vector_type:
+// (Technically, some of these (pop and __delitem__) don't actually require copyability, but it seems
+// silly to allow deletion but not insertion, so include them here too.)
+template <typename Vector, typename Class_>
+void vector_modifiers(enable_if_t<is_copy_constructible<typename Vector::value_type>::value, Class_> &cl) {
+    using T = typename Vector::value_type;
+    using SizeType = typename Vector::size_type;
+    using DiffType = typename Vector::difference_type;
+
+    auto wrap_i = [](DiffType i, SizeType n) {
+        if (i < 0)
+            i += n;
+        if (i < 0 || (SizeType)i >= n)
+            throw index_error();
+        return i;
+    };
+
+    cl.def("append",
+           [](Vector &v, const T &value) { v.push_back(value); },
+           arg("x"),
+           "Add an item to the end of the list");
+
+    cl.def(init([](iterable it) {
+        auto v = std::unique_ptr<Vector>(new Vector());
+        v->reserve(len_hint(it));
+        for (handle h : it)
+           v->push_back(h.cast<T>());
+        return v.release();
+    }));
+
+    cl.def("clear",
+        [](Vector &v) {
+            v.clear();
+        },
+        "Clear the contents"
+    );
+
+    cl.def("extend",
+       [](Vector &v, const Vector &src) {
+           v.insert(v.end(), src.begin(), src.end());
+       },
+       arg("L"),
+       "Extend the list by appending all the items in the given list"
+    );
+
+    cl.def("extend",
+       [](Vector &v, iterable it) {
+           const size_t old_size = v.size();
+           v.reserve(old_size + len_hint(it));
+           try {
+               for (handle h : it) {
+                   v.push_back(h.cast<T>());
+               }
+           } catch (const cast_error &) {
+               v.erase(v.begin() + static_cast<typename Vector::difference_type>(old_size), v.end());
+               try {
+                   v.shrink_to_fit();
+               } catch (const std::exception &) {
+                   // Do nothing
+               }
+               throw;
+           }
+       },
+       arg("L"),
+       "Extend the list by appending all the items in the given list"
+    );
+
+    cl.def("insert",
+        [](Vector &v, DiffType i, const T &x) {
+            // Can't use wrap_i; i == v.size() is OK
+            if (i < 0)
+                i += v.size();
+            if (i < 0 || (SizeType)i > v.size())
+                throw index_error();
+            v.insert(v.begin() + i, x);
+        },
+        arg("i") , arg("x"),
+        "Insert an item at a given position."
+    );
+
+    cl.def("pop",
+        [](Vector &v) {
+            if (v.empty())
+                throw index_error();
+            T t = v.back();
+            v.pop_back();
+            return t;
+        },
+        "Remove and return the last item"
+    );
+
+    cl.def("pop",
+        [wrap_i](Vector &v, DiffType i) {
+            i = wrap_i(i, v.size());
+            T t = v[(SizeType) i];
+            v.erase(v.begin() + i);
+            return t;
+        },
+        arg("i"),
+        "Remove and return the item at index ``i``"
+    );
+
+    cl.def("__setitem__",
+        [wrap_i](Vector &v, DiffType i, const T &t) {
+            i = wrap_i(i, v.size());
+            v[(SizeType)i] = t;
+        }
+    );
+
+    /// Slicing protocol
+    cl.def("__getitem__",
+        [](const Vector &v, slice slice) -> Vector * {
+            size_t start, stop, step, slicelength;
+
+            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength))
+                throw error_already_set();
+
+            auto *seq = new Vector();
+            seq->reserve((size_t) slicelength);
+
+            for (size_t i=0; i<slicelength; ++i) {
+                seq->push_back(v[start]);
+                start += step;
+            }
+            return seq;
+        },
+        arg("s"),
+        "Retrieve list elements using a slice object"
+    );
+
+    cl.def("__setitem__",
+        [](Vector &v, slice slice,  const Vector &value) {
+            size_t start, stop, step, slicelength;
+            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength))
+                throw error_already_set();
+
+            if (slicelength != value.size())
+                throw std::runtime_error("Left and right hand size of slice assignment have different sizes!");
+
+            for (size_t i=0; i<slicelength; ++i) {
+                v[start] = value[i];
+                start += step;
+            }
+        },
+        "Assign list elements using a slice object"
+    );
+
+    cl.def("__delitem__",
+        [wrap_i](Vector &v, DiffType i) {
+            i = wrap_i(i, v.size());
+            v.erase(v.begin() + i);
+        },
+        "Delete the list elements at index ``i``"
+    );
+
+    cl.def("__delitem__",
+        [](Vector &v, slice slice) {
+            size_t start, stop, step, slicelength;
+
+            if (!slice.compute(v.size(), &start, &stop, &step, &slicelength))
+                throw error_already_set();
+
+            if (step == 1 && false) {
+                v.erase(v.begin() + (DiffType) start, v.begin() + DiffType(start + slicelength));
+            } else {
+                for (size_t i = 0; i < slicelength; ++i) {
+                    v.erase(v.begin() + DiffType(start));
+                    start += step - 1;
+                }
+            }
+        },
+        "Delete list elements using a slice object"
+    );
+
+}
+
+// If the type has an operator[] that doesn't return a reference (most notably std::vector<bool>),
+// we have to access by copying; otherwise we return by reference.
+template <typename Vector> using vector_needs_copy = negation<
+    std::is_same<decltype(std::declval<Vector>()[typename Vector::size_type()]), typename Vector::value_type &>>;
+
+// The usual case: access and iterate by reference
+template <typename Vector, typename Class_>
+void vector_accessor(enable_if_t<!vector_needs_copy<Vector>::value, Class_> &cl) {
+    using T = typename Vector::value_type;
+    using SizeType = typename Vector::size_type;
+    using DiffType = typename Vector::difference_type;
+    using ItType   = typename Vector::iterator;
+
+    auto wrap_i = [](DiffType i, SizeType n) {
+        if (i < 0)
+            i += n;
+        if (i < 0 || (SizeType)i >= n)
+            throw index_error();
+        return i;
+    };
+
+    cl.def("__getitem__",
+        [wrap_i](Vector &v, DiffType i) -> T & {
+            i = wrap_i(i, v.size());
+            return v[(SizeType)i];
+        },
+        return_value_policy::reference_internal // ref + keepalive
+    );
+
+    cl.def("__iter__",
+           [](Vector &v) {
+               return make_iterator<
+                   return_value_policy::reference_internal, ItType, ItType, T&>(
+                   v.begin(), v.end());
+           },
+           keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
+    );
+}
+
+// The case for special objects, like std::vector<bool>, that have to be returned-by-copy:
+template <typename Vector, typename Class_>
+void vector_accessor(enable_if_t<vector_needs_copy<Vector>::value, Class_> &cl) {
+    using T = typename Vector::value_type;
+    using SizeType = typename Vector::size_type;
+    using DiffType = typename Vector::difference_type;
+    using ItType   = typename Vector::iterator;
+    cl.def("__getitem__",
+        [](const Vector &v, DiffType i) -> T {
+            if (i < 0 && (i += v.size()) < 0)
+                throw index_error();
+            if ((SizeType)i >= v.size())
+                throw index_error();
+            return v[(SizeType)i];
+        }
+    );
+
+    cl.def("__iter__",
+           [](Vector &v) {
+               return make_iterator<
+                   return_value_policy::copy, ItType, ItType, T>(
+                   v.begin(), v.end());
+           },
+           keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
+    );
+}
+
+template <typename Vector, typename Class_> auto vector_if_insertion_operator(Class_ &cl, std::string const &name)
+    -> decltype(std::declval<std::ostream&>() << std::declval<typename Vector::value_type>(), void()) {
+    using size_type = typename Vector::size_type;
+
+    cl.def("__repr__",
+           [name](Vector &v) {
+            std::ostringstream s;
+            s << name << '[';
+            for (size_type i=0; i < v.size(); ++i) {
+                s << v[i];
+                if (i != v.size() - 1)
+                    s << ", ";
+            }
+            s << ']';
+            return s.str();
+        },
+        "Return the canonical string representation of this list."
+    );
+}
+
+// Provide the buffer interface for vectors if we have data() and we have a format for it
+// GCC seems to have "void std::vector<bool>::data()" - doing SFINAE on the existence of data() is insufficient, we need to check it returns an appropriate pointer
+template <typename Vector, typename = void>
+struct vector_has_data_and_format : std::false_type {};
+template <typename Vector>
+struct vector_has_data_and_format<Vector, enable_if_t<std::is_same<decltype(format_descriptor<typename Vector::value_type>::format(), std::declval<Vector>().data()), typename Vector::value_type*>::value>> : std::true_type {};
+
+// Add the buffer interface to a vector
+template <typename Vector, typename Class_, typename... Args>
+enable_if_t<detail::any_of<std::is_same<Args, buffer_protocol>...>::value>
+vector_buffer(Class_& cl) {
+    using T = typename Vector::value_type;
+
+    static_assert(vector_has_data_and_format<Vector>::value, "There is not an appropriate format descriptor for this vector");
+
+    // numpy.h declares this for arbitrary types, but it may raise an exception and crash hard at runtime if PYBIND11_NUMPY_DTYPE hasn't been called, so check here
+    format_descriptor<T>::format();
+
+    cl.def_buffer([](Vector& v) -> buffer_info {
+        return buffer_info(v.data(), static_cast<ssize_t>(sizeof(T)), format_descriptor<T>::format(), 1, {v.size()}, {sizeof(T)});
+    });
+
+    cl.def(init([](buffer buf) {
+        auto info = buf.request();
+        if (info.ndim != 1 || info.strides[0] % static_cast<ssize_t>(sizeof(T)))
+            throw type_error("Only valid 1D buffers can be copied to a vector");
+        if (!detail::compare_buffer_info<T>::compare(info) || (ssize_t) sizeof(T) != info.itemsize)
+            throw type_error("Format mismatch (Python: " + info.format + " C++: " + format_descriptor<T>::format() + ")");
+
+        T *p = static_cast<T*>(info.ptr);
+        ssize_t step = info.strides[0] / static_cast<ssize_t>(sizeof(T));
+        T *end = p + info.shape[0] * step;
+        if (step == 1) {
+            return Vector(p, end);
+        }
+        else {
+            Vector vec;
+            vec.reserve((size_t) info.shape[0]);
+            for (; p != end; p += step)
+                vec.push_back(*p);
+            return vec;
+        }
+    }));
+
+    return;
+}
+
+template <typename Vector, typename Class_, typename... Args>
+enable_if_t<!detail::any_of<std::is_same<Args, buffer_protocol>...>::value> vector_buffer(Class_&) {}
+
+PYBIND11_NAMESPACE_END(detail)
+
+//
+// std::vector
+//
+template <typename Vector, typename holder_type = std::unique_ptr<Vector>, typename... Args>
+class_<Vector, holder_type> bind_vector(handle scope, std::string const &name, Args&&... args) {
+    using Class_ = class_<Vector, holder_type>;
+
+    // If the value_type is unregistered (e.g. a converting type) or is itself registered
+    // module-local then make the vector binding module-local as well:
+    using vtype = typename Vector::value_type;
+    auto vtype_info = detail::get_type_info(typeid(vtype));
+    bool local = !vtype_info || vtype_info->module_local;
+
+    Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward<Args>(args)...);
+
+    // Declare the buffer interface if a buffer_protocol() is passed in
+    detail::vector_buffer<Vector, Class_, Args...>(cl);
+
+    cl.def(init<>());
+
+    // Register copy constructor (if possible)
+    detail::vector_if_copy_constructible<Vector, Class_>(cl);
+
+    // Register comparison-related operators and functions (if possible)
+    detail::vector_if_equal_operator<Vector, Class_>(cl);
+
+    // Register stream insertion operator (if possible)
+    detail::vector_if_insertion_operator<Vector, Class_>(cl, name);
+
+    // Modifiers require copyable vector value type
+    detail::vector_modifiers<Vector, Class_>(cl);
+
+    // Accessor and iterator; return by value if copyable, otherwise we return by ref + keep-alive
+    detail::vector_accessor<Vector, Class_>(cl);
+
+    cl.def("__bool__",
+        [](const Vector &v) -> bool {
+            return !v.empty();
+        },
+        "Check whether the list is nonempty"
+    );
+
+    cl.def("__len__", &Vector::size);
+
+
+
+
+#if 0
+    // C++ style functions deprecated, leaving it here as an example
+    cl.def(init<size_type>());
+
+    cl.def("resize",
+         (void (Vector::*) (size_type count)) & Vector::resize,
+         "changes the number of elements stored");
+
+    cl.def("erase",
+        [](Vector &v, SizeType i) {
+        if (i >= v.size())
+            throw index_error();
+        v.erase(v.begin() + i);
+    }, "erases element at index ``i``");
+
+    cl.def("empty",         &Vector::empty,         "checks whether the container is empty");
+    cl.def("size",          &Vector::size,          "returns the number of elements");
+    cl.def("push_back", (void (Vector::*)(const T&)) &Vector::push_back, "adds an element to the end");
+    cl.def("pop_back",                               &Vector::pop_back, "removes the last element");
+
+    cl.def("max_size",      &Vector::max_size,      "returns the maximum possible number of elements");
+    cl.def("reserve",       &Vector::reserve,       "reserves storage");
+    cl.def("capacity",      &Vector::capacity,      "returns the number of elements that can be held in currently allocated storage");
+    cl.def("shrink_to_fit", &Vector::shrink_to_fit, "reduces memory usage by freeing unused memory");
+
+    cl.def("clear", &Vector::clear, "clears the contents");
+    cl.def("swap",   &Vector::swap, "swaps the contents");
+
+    cl.def("front", [](Vector &v) {
+        if (v.size()) return v.front();
+        else throw index_error();
+    }, "access the first element");
+
+    cl.def("back", [](Vector &v) {
+        if (v.size()) return v.back();
+        else throw index_error();
+    }, "access the last element ");
+
+#endif
+
+    return cl;
+}
+
+
+
+//
+// std::map, std::unordered_map
+//
+
+PYBIND11_NAMESPACE_BEGIN(detail)
+
+/* Fallback functions */
+template <typename, typename, typename... Args> void map_if_insertion_operator(const Args &...) { }
+template <typename, typename, typename... Args> void map_assignment(const Args &...) { }
+
+// Map assignment when copy-assignable: just copy the value
+template <typename Map, typename Class_>
+void map_assignment(enable_if_t<is_copy_assignable<typename Map::mapped_type>::value, Class_> &cl) {
+    using KeyType = typename Map::key_type;
+    using MappedType = typename Map::mapped_type;
+
+    cl.def("__setitem__",
+           [](Map &m, const KeyType &k, const MappedType &v) {
+               auto it = m.find(k);
+               if (it != m.end()) it->second = v;
+               else m.emplace(k, v);
+           }
+    );
+}
+
+// Not copy-assignable, but still copy-constructible: we can update the value by erasing and reinserting
+template<typename Map, typename Class_>
+void map_assignment(enable_if_t<
+        !is_copy_assignable<typename Map::mapped_type>::value &&
+        is_copy_constructible<typename Map::mapped_type>::value,
+        Class_> &cl) {
+    using KeyType = typename Map::key_type;
+    using MappedType = typename Map::mapped_type;
+
+    cl.def("__setitem__",
+           [](Map &m, const KeyType &k, const MappedType &v) {
+               // We can't use m[k] = v; because value type might not be default constructable
+               auto r = m.emplace(k, v);
+               if (!r.second) {
+                   // value type is not copy assignable so the only way to insert it is to erase it first...
+                   m.erase(r.first);
+                   m.emplace(k, v);
+               }
+           }
+    );
+}
+
+
+template <typename Map, typename Class_> auto map_if_insertion_operator(Class_ &cl, std::string const &name)
+-> decltype(std::declval<std::ostream&>() << std::declval<typename Map::key_type>() << std::declval<typename Map::mapped_type>(), void()) {
+
+    cl.def("__repr__",
+           [name](Map &m) {
+            std::ostringstream s;
+            s << name << '{';
+            bool f = false;
+            for (auto const &kv : m) {
+                if (f)
+                    s << ", ";
+                s << kv.first << ": " << kv.second;
+                f = true;
+            }
+            s << '}';
+            return s.str();
+        },
+        "Return the canonical string representation of this map."
+    );
+}
+
+
+PYBIND11_NAMESPACE_END(detail)
+
+template <typename Map, typename holder_type = std::unique_ptr<Map>, typename... Args>
+class_<Map, holder_type> bind_map(handle scope, const std::string &name, Args&&... args) {
+    using KeyType = typename Map::key_type;
+    using MappedType = typename Map::mapped_type;
+    using Class_ = class_<Map, holder_type>;
+
+    // If either type is a non-module-local bound type then make the map binding non-local as well;
+    // otherwise (e.g. both types are either module-local or converting) the map will be
+    // module-local.
+    auto tinfo = detail::get_type_info(typeid(MappedType));
+    bool local = !tinfo || tinfo->module_local;
+    if (local) {
+        tinfo = detail::get_type_info(typeid(KeyType));
+        local = !tinfo || tinfo->module_local;
+    }
+
+    Class_ cl(scope, name.c_str(), pybind11::module_local(local), std::forward<Args>(args)...);
+
+    cl.def(init<>());
+
+    // Register stream insertion operator (if possible)
+    detail::map_if_insertion_operator<Map, Class_>(cl, name);
+
+    cl.def("__bool__",
+        [](const Map &m) -> bool { return !m.empty(); },
+        "Check whether the map is nonempty"
+    );
+
+    cl.def("__iter__",
+           [](Map &m) { return make_key_iterator(m.begin(), m.end()); },
+           keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
+    );
+
+    cl.def("items",
+           [](Map &m) { return make_iterator(m.begin(), m.end()); },
+           keep_alive<0, 1>() /* Essential: keep list alive while iterator exists */
+    );
+
+    cl.def("__getitem__",
+        [](Map &m, const KeyType &k) -> MappedType & {
+            auto it = m.find(k);
+            if (it == m.end())
+              throw key_error();
+           return it->second;
+        },
+        return_value_policy::reference_internal // ref + keepalive
+    );
+
+    cl.def("__contains__",
+        [](Map &m, const KeyType &k) -> bool {
+            auto it = m.find(k);
+            if (it == m.end())
+              return false;
+           return true;
+        }
+    );
+
+    // Assignment provided only if the type is copyable
+    detail::map_assignment<Map, Class_>(cl);
+
+    cl.def("__delitem__",
+           [](Map &m, const KeyType &k) {
+               auto it = m.find(k);
+               if (it == m.end())
+                   throw key_error();
+               m.erase(it);
+           }
+    );
+
+    cl.def("__len__", &Map::size);
+
+    return cl;
+}
+
+PYBIND11_NAMESPACE_END(PYBIND11_NAMESPACE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/__init__.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/__init__.py
new file mode 100644
index 0000000..ad65420
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/__init__.py
@@ -0,0 +1,12 @@
+# -*- coding: utf-8 -*-
+
+from ._version import version_info, __version__
+from .commands import get_include, get_cmake_dir
+
+
+__all__ = (
+    "version_info",
+    "__version__",
+    "get_include",
+    "get_cmake_dir",
+)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/__main__.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/__main__.py
new file mode 100644
index 0000000..f4d5437
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/__main__.py
@@ -0,0 +1,49 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function
+
+import argparse
+import sys
+import sysconfig
+
+from .commands import get_include, get_cmake_dir
+
+
+def print_includes():
+    dirs = [
+        sysconfig.get_path("include"),
+        sysconfig.get_path("platinclude"),
+        get_include(),
+    ]
+
+    # Make unique but preserve order
+    unique_dirs = []
+    for d in dirs:
+        if d not in unique_dirs:
+            unique_dirs.append(d)
+
+    print(" ".join("-I" + d for d in unique_dirs))
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument(
+        "--includes",
+        action="store_true",
+        help="Include flags for both pybind11 and Python headers.",
+    )
+    parser.add_argument(
+        "--cmakedir",
+        action="store_true",
+        help="Print the CMake module directory, ideal for setting -Dpybind11_ROOT in CMake.",
+    )
+    args = parser.parse_args()
+    if not sys.argv[1:]:
+        parser.print_help()
+    if args.includes:
+        print_includes()
+    if args.cmakedir:
+        print(get_cmake_dir())
+
+
+if __name__ == "__main__":
+    main()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/_version.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/_version.py
new file mode 100644
index 0000000..3a17071
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/_version.py
@@ -0,0 +1,12 @@
+# -*- coding: utf-8 -*-
+
+
+def _to_int(s):
+    try:
+        return int(s)
+    except ValueError:
+        return s
+
+
+__version__ = "2.6.0rc1"
+version_info = tuple(_to_int(s) for s in __version__.split("."))
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/commands.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/commands.py
new file mode 100644
index 0000000..fa7eac3
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/commands.py
@@ -0,0 +1,20 @@
+# -*- coding: utf-8 -*-
+import os
+
+
+DIR = os.path.abspath(os.path.dirname(__file__))
+
+
+def get_include(user=False):
+    installed_path = os.path.join(DIR, "include")
+    source_path = os.path.join(os.path.dirname(DIR), "include")
+    return installed_path if os.path.exists(installed_path) else source_path
+
+
+def get_cmake_dir():
+    cmake_installed_path = os.path.join(DIR, "share", "cmake", "pybind11")
+    if os.path.exists(cmake_installed_path):
+        return cmake_installed_path
+    else:
+        msg = "pybind11 not installed, installation required to access the CMake files"
+        raise ImportError(msg)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/setup_helpers.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/setup_helpers.py
new file mode 100644
index 0000000..ced8542
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pybind11/setup_helpers.py
@@ -0,0 +1,387 @@
+# -*- coding: utf-8 -*-
+
+"""
+This module provides helpers for C++11+ projects using pybind11.
+
+LICENSE:
+
+Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>, All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+   may be used to endorse or promote products derived from this software
+   without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+"""
+
+import contextlib
+import os
+import shutil
+import sys
+import tempfile
+import threading
+import warnings
+
+try:
+    from setuptools.command.build_ext import build_ext as _build_ext
+    from setuptools import Extension as _Extension
+except ImportError:
+    from distutils.command.build_ext import build_ext as _build_ext
+    from distutils.extension import Extension as _Extension
+
+import distutils.errors
+import distutils.ccompiler
+
+
+WIN = sys.platform.startswith("win32")
+PY2 = sys.version_info[0] < 3
+MACOS = sys.platform.startswith("darwin")
+STD_TMPL = "/std:c++{}" if WIN else "-std=c++{}"
+
+
+# It is recommended to use PEP 518 builds if using this module. However, this
+# file explicitly supports being copied into a user's project directory
+# standalone, and pulling pybind11 with the deprecated setup_requires feature.
+# If you copy the file, remember to add it to your MANIFEST.in, and add the current
+# directory into your path if it sits beside your setup.py.
+
+
+class Pybind11Extension(_Extension):
+    """
+    Build a C++11+ Extension module with pybind11. This automatically adds the
+    recommended flags when you init the extension and assumes C++ sources - you
+    can further modify the options yourself.
+
+    The customizations are:
+
+    * ``/EHsc`` and ``/bigobj`` on Windows
+    * ``stdlib=libc++`` on macOS
+    * ``visibility=hidden`` and ``-g0`` on Unix
+
+    Finally, you can set ``cxx_std`` via constructor or afterwords to enable
+    flags for C++ std, and a few extra helper flags related to the C++ standard
+    level. It is _highly_ recommended you either set this, or use the provided
+    ``build_ext``, which will search for the highest supported extension for
+    you if the ``cxx_std`` property is not set. Do not set the ``cxx_std``
+    property more than once, as flags are added when you set it. Set the
+    property to None to disable the addition of C++ standard flags.
+
+    If you want to add pybind11 headers manually, for example for an exact
+    git checkout, then set ``include_pybind11=False``.
+
+    Warning: do not use property-based access to the instance on Python 2 -
+    this is an ugly old-style class due to Distutils.
+    """
+
+    def _add_cflags(self, *flags):
+        for flag in flags:
+            if flag not in self.extra_compile_args:
+                self.extra_compile_args.append(flag)
+
+    def _add_lflags(self, *flags):
+        for flag in flags:
+            if flag not in self.extra_compile_args:
+                self.extra_link_args.append(flag)
+
+    def __init__(self, *args, **kwargs):
+
+        self._cxx_level = 0
+        cxx_std = kwargs.pop("cxx_std", 0)
+
+        if "language" not in kwargs:
+            kwargs["language"] = "c++"
+
+        include_pybind11 = kwargs.pop("include_pybind11", True)
+
+        # Can't use super here because distutils has old-style classes in
+        # Python 2!
+        _Extension.__init__(self, *args, **kwargs)
+
+        # Include the installed package pybind11 headers
+        if include_pybind11:
+            # If using setup_requires, this fails the first time - that's okay
+            try:
+                import pybind11
+
+                pyinc = pybind11.get_include()
+
+                if pyinc not in self.include_dirs:
+                    self.include_dirs.append(pyinc)
+            except ImportError:
+                pass
+
+        # Have to use the accessor manually to support Python 2 distutils
+        Pybind11Extension.cxx_std.__set__(self, cxx_std)
+
+        if WIN:
+            self._add_cflags("/EHsc", "/bigobj")
+        else:
+            self._add_cflags("-fvisibility=hidden", "-g0")
+            if MACOS:
+                self._add_cflags("-stdlib=libc++")
+                self._add_lflags("-stdlib=libc++")
+
+    @property
+    def cxx_std(self):
+        """
+        The CXX standard level. If set, will add the required flags. If left
+        at 0, it will trigger an automatic search when pybind11's build_ext
+        is used. If None, will have no effect.  Besides just the flags, this
+        may add a register warning/error fix for Python 2 or macos-min 10.9
+        or 10.14.
+        """
+        return self._cxx_level
+
+    @cxx_std.setter
+    def cxx_std(self, level):
+
+        if self._cxx_level:
+            warnings.warn("You cannot safely change the cxx_level after setting it!")
+
+        # MSVC 2015 Update 3 and later only have 14 (and later 17) modes, so
+        # force a valid flag here.
+        if WIN and level == 11:
+            level = 14
+
+        self._cxx_level = level
+
+        if not level:
+            return
+
+        self.extra_compile_args.append(STD_TMPL.format(level))
+
+        if MACOS and "MACOSX_DEPLOYMENT_TARGET" not in os.environ:
+            # C++17 requires a higher min version of macOS. An earlier version
+            # can be set manually via environment variable if you are careful
+            # in your feature usage, but 10.14 is the safest setting for
+            # general use.
+            macosx_min = "-mmacosx-version-min=" + ("10.9" if level < 17 else "10.14")
+            self.extra_compile_args.append(macosx_min)
+            self.extra_link_args.append(macosx_min)
+
+        if PY2:
+            if WIN:
+                # Will be ignored on MSVC 2015, where C++17 is not supported so
+                # this flag is not valid.
+                self.extra_compile_args.append("/wd5033")
+            elif level >= 17:
+                self.extra_compile_args.append("-Wno-register")
+            elif level >= 14:
+                self.extra_compile_args.append("-Wno-deprecated-register")
+
+
+# Just in case someone clever tries to multithread
+tmp_chdir_lock = threading.Lock()
+cpp_cache_lock = threading.Lock()
+
+
+@contextlib.contextmanager
+def tmp_chdir():
+    "Prepare and enter a temporary directory, cleanup when done"
+
+    # Threadsafe
+    with tmp_chdir_lock:
+        olddir = os.getcwd()
+        try:
+            tmpdir = tempfile.mkdtemp()
+            os.chdir(tmpdir)
+            yield tmpdir
+        finally:
+            os.chdir(olddir)
+            shutil.rmtree(tmpdir)
+
+
+# cf http://bugs.python.org/issue26689
+def has_flag(compiler, flag):
+    """
+    Return the flag if a flag name is supported on the
+    specified compiler, otherwise None (can be used as a boolean).
+    If multiple flags are passed, return the first that matches.
+    """
+
+    with tmp_chdir():
+        fname = "flagcheck.cpp"
+        with open(fname, "w") as f:
+            f.write("int main (int argc, char **argv) { return 0; }")
+
+        try:
+            compiler.compile([fname], extra_postargs=[flag])
+        except distutils.errors.CompileError:
+            return False
+        return True
+
+
+# Every call will cache the result
+cpp_flag_cache = None
+
+
+def auto_cpp_level(compiler):
+    """
+    Return the max supported C++ std level (17, 14, or 11). Returns latest on Windows.
+    """
+
+    if WIN:
+        return "latest"
+
+    global cpp_flag_cache
+
+    # If this has been previously calculated with the same args, return that
+    with cpp_cache_lock:
+        if cpp_flag_cache:
+            return cpp_flag_cache
+
+    levels = [17, 14, 11]
+
+    for level in levels:
+        if has_flag(compiler, STD_TMPL.format(level)):
+            with cpp_cache_lock:
+                cpp_flag_cache = level
+            return level
+
+    msg = "Unsupported compiler -- at least C++11 support is needed!"
+    raise RuntimeError(msg)
+
+
+class build_ext(_build_ext):  # noqa: N801
+    """
+    Customized build_ext that allows an auto-search for the highest supported
+    C++ level for Pybind11Extension.
+    """
+
+    def build_extensions(self):
+        """
+        Build extensions, injecting C++ std for Pybind11Extension if needed.
+        """
+
+        for ext in self.extensions:
+            if hasattr(ext, "_cxx_level") and ext._cxx_level == 0:
+                # Python 2 syntax - old-style distutils class
+                ext.__class__.cxx_std.__set__(ext, auto_cpp_level(self.compiler))
+
+        # Python 2 doesn't allow super here, since distutils uses old-style
+        # classes!
+        _build_ext.build_extensions(self)
+
+
+# Optional parallel compile utility
+# inspired by: http://stackoverflow.com/questions/11013851/speeding-up-build-process-with-distutils
+# and: https://github.com/tbenthompson/cppimport/blob/stable/cppimport/build_module.py
+# and NumPy's parallel distutils module:
+#              https://github.com/numpy/numpy/blob/master/numpy/distutils/ccompiler.py
+class ParallelCompile(object):
+    """
+    Make a parallel compile function. Inspired by
+    numpy.distutils.ccompiler.CCompiler_compile and cppimport.
+
+    This takes several arguments that allow you to customize the compile
+    function created:
+
+    envvar: Set an environment variable to control the compilation threads, like NPY_NUM_BUILD_JOBS
+    default: 0 will automatically multithread, or 1 will only multithread if the envvar is set.
+    max: The limit for automatic multithreading if non-zero
+
+    To use:
+        ParallelCompile("NPY_NUM_BUILD_JOBS").install()
+    or:
+        with ParallelCompile("NPY_NUM_BUILD_JOBS"):
+            setup(...)
+    """
+
+    __slots__ = ("envvar", "default", "max", "old")
+
+    def __init__(self, envvar=None, default=0, max=0):
+        self.envvar = envvar
+        self.default = default
+        self.max = max
+        self.old = []
+
+    def function(self):
+        """
+        Builds a function object usable as distutils.ccompiler.CCompiler.compile.
+        """
+
+        def compile_function(
+            compiler,
+            sources,
+            output_dir=None,
+            macros=None,
+            include_dirs=None,
+            debug=0,
+            extra_preargs=None,
+            extra_postargs=None,
+            depends=None,
+        ):
+
+            # These lines are directly from distutils.ccompiler.CCompiler
+            macros, objects, extra_postargs, pp_opts, build = compiler._setup_compile(
+                output_dir, macros, include_dirs, sources, depends, extra_postargs
+            )
+            cc_args = compiler._get_cc_args(pp_opts, debug, extra_preargs)
+
+            # The number of threads; start with default.
+            threads = self.default
+
+            # Determine the number of compilation threads, unless set by an environment variable.
+            if self.envvar is not None:
+                threads = int(os.environ.get(self.envvar, self.default))
+
+            def _single_compile(obj):
+                try:
+                    src, ext = build[obj]
+                except KeyError:
+                    return
+                compiler._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
+
+            try:
+                import multiprocessing
+                from multiprocessing.pool import ThreadPool
+            except ImportError:
+                threads = 1
+
+            if threads == 0:
+                try:
+                    threads = multiprocessing.cpu_count()
+                    threads = self.max if self.max and self.max < threads else threads
+                except NotImplementedError:
+                    threads = 1
+
+            if threads > 1:
+                for _ in ThreadPool(threads).imap_unordered(_single_compile, objects):
+                    pass
+            else:
+                for ob in objects:
+                    _single_compile(ob)
+
+            return objects
+
+        return compile_function
+
+    def install(self):
+        distutils.ccompiler.CCompiler.compile = self.function()
+        return self
+
+    def __enter__(self):
+        self.old.append(distutils.ccompiler.CCompiler.compile)
+        return self.install()
+
+    def __exit__(self, *args):
+        distutils.ccompiler.CCompiler.compile = self.old.pop()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pyproject.toml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pyproject.toml
new file mode 100644
index 0000000..5c9d153
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/pyproject.toml
@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools>=42", "wheel", "cmake>=3.18", "ninja"]
+build-backend = "setuptools.build_meta"
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.cfg b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.cfg
new file mode 100644
index 0000000..dbef210
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.cfg
@@ -0,0 +1,66 @@
+[metadata]
+long_description = file: README.rst
+long_description_content_type = text/x-rst
+description = Seamless operability between C++11 and Python
+author = Wenzel Jakob
+author_email = wenzel.jakob@epfl.ch
+url = https://github.com/pybind/pybind11
+license = BSD
+
+classifiers =
+    Development Status :: 5 - Production/Stable
+    Intended Audience :: Developers
+    Topic :: Software Development :: Libraries :: Python Modules
+    Topic :: Utilities
+    Programming Language :: C++
+    Programming Language :: Python :: 2.7
+    Programming Language :: Python :: 3
+    Programming Language :: Python :: 3.5
+    Programming Language :: Python :: 3.6
+    Programming Language :: Python :: 3.7
+    Programming Language :: Python :: 3.8
+    License :: OSI Approved :: BSD License
+    Programming Language :: Python :: Implementation :: PyPy
+    Programming Language :: Python :: Implementation :: CPython
+    Programming Language :: C++
+    Topic :: Software Development :: Libraries :: Python Modules
+
+keywords =
+    C++11
+    Python bindings
+
+[options]
+python_requires = >=2.7, !=3.0, !=3.1, !=3.2, !=3.3, !=3.4
+zip_safe = False
+
+[bdist_wheel]
+universal=1
+
+[check-manifest]
+ignore =
+    tests/**
+    docs/**
+    tools/**
+    include/**
+    .appveyor.yml
+    .cmake-format.yaml
+    .gitmodules
+    .pre-commit-config.yaml
+    .readthedocs.yml
+    .clang-tidy
+    pybind11/include/**
+    pybind11/share/**
+    CMakeLists.txt
+
+
+[flake8]
+max-line-length = 99
+show_source = True
+exclude = .git, __pycache__, build, dist, docs, tools, venv
+ignore =
+    # required for pretty matrix formatting: multiple spaces after `,` and `[`
+    E201, E241, W504,
+    # camelcase 'cPickle' imported as lowercase 'pickle'
+    N813
+    # Black conflict
+    W503, E203
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.py
new file mode 100644
index 0000000..3a03279
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/setup.py
@@ -0,0 +1,115 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Setup script for PyPI; use CMakeFile.txt to build extension modules
+
+import contextlib
+import os
+import re
+import shutil
+import string
+import subprocess
+import sys
+import tempfile
+
+import setuptools.command.sdist
+
+DIR = os.path.abspath(os.path.dirname(__file__))
+VERSION_REGEX = re.compile(
+    r"^\s*#\s*define\s+PYBIND11_VERSION_([A-Z]+)\s+(.*)$", re.MULTILINE
+)
+
+# PYBIND11_GLOBAL_SDIST will build a different sdist, with the python-headers
+# files, and the sys.prefix files (CMake and headers).
+
+global_sdist = os.environ.get("PYBIND11_GLOBAL_SDIST", False)
+
+setup_py = "tools/setup_global.py.in" if global_sdist else "tools/setup_main.py.in"
+extra_cmd = 'cmdclass["sdist"] = SDist\n'
+
+to_src = (
+    ("pyproject.toml", "tools/pyproject.toml"),
+    ("setup.py", setup_py),
+)
+
+# Read the listed version
+with open("pybind11/_version.py") as f:
+    code = compile(f.read(), "pybind11/_version.py", "exec")
+loc = {}
+exec(code, loc)
+version = loc["__version__"]
+
+# Verify that the version matches the one in C++
+with open("include/pybind11/detail/common.h") as f:
+    matches = dict(VERSION_REGEX.findall(f.read()))
+cpp_version = "{MAJOR}.{MINOR}.{PATCH}".format(**matches)
+if version != cpp_version:
+    msg = "Python version {} does not match C++ version {}!".format(
+        version, cpp_version
+    )
+    raise RuntimeError(msg)
+
+
+def get_and_replace(filename, binary=False, **opts):
+    with open(filename, "rb" if binary else "r") as f:
+        contents = f.read()
+    # Replacement has to be done on text in Python 3 (both work in Python 2)
+    if binary:
+        return string.Template(contents.decode()).substitute(opts).encode()
+    else:
+        return string.Template(contents).substitute(opts)
+
+
+# Use our input files instead when making the SDist (and anything that depends
+# on it, like a wheel)
+class SDist(setuptools.command.sdist.sdist):
+    def make_release_tree(self, base_dir, files):
+        setuptools.command.sdist.sdist.make_release_tree(self, base_dir, files)
+
+        for to, src in to_src:
+            txt = get_and_replace(src, binary=True, version=version, extra_cmd="")
+
+            dest = os.path.join(base_dir, to)
+
+            # This is normally linked, so unlink before writing!
+            os.unlink(dest)
+            with open(dest, "wb") as f:
+                f.write(txt)
+
+
+# Backport from Python 3
+@contextlib.contextmanager
+def TemporaryDirectory():  # noqa: N802
+    "Prepare a temporary directory, cleanup when done"
+    try:
+        tmpdir = tempfile.mkdtemp()
+        yield tmpdir
+    finally:
+        shutil.rmtree(tmpdir)
+
+
+# Remove the CMake install directory when done
+@contextlib.contextmanager
+def remove_output(*sources):
+    try:
+        yield
+    finally:
+        for src in sources:
+            shutil.rmtree(src)
+
+
+with remove_output("pybind11/include", "pybind11/share"):
+    # Generate the files if they are not present.
+    with TemporaryDirectory() as tmpdir:
+        cmd = ["cmake", "-S", ".", "-B", tmpdir] + [
+            "-DCMAKE_INSTALL_PREFIX=pybind11",
+            "-DBUILD_TESTING=OFF",
+            "-DPYBIND11_NOPYTHON=ON",
+        ]
+        cmake_opts = dict(cwd=DIR, stdout=sys.stdout, stderr=sys.stderr)
+        subprocess.check_call(cmd, **cmake_opts)
+        subprocess.check_call(["cmake", "--install", tmpdir], **cmake_opts)
+
+    txt = get_and_replace(setup_py, version=version, extra_cmd=extra_cmd)
+    code = compile(txt, setup_py, "exec")
+    exec(code, {"SDist": SDist})
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/CMakeLists.txt
new file mode 100644
index 0000000..c73da61
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/CMakeLists.txt
@@ -0,0 +1,406 @@
+# CMakeLists.txt -- Build system for the pybind11 test suite
+#
+# Copyright (c) 2015 Wenzel Jakob <wenzel@inf.ethz.ch>
+#
+# All rights reserved. Use of this source code is governed by a
+# BSD-style license that can be found in the LICENSE file.
+
+cmake_minimum_required(VERSION 3.4)
+
+# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# some versions of VS that have a patched CMake 3.11. This forces us to emulate
+# the behavior using the following workaround:
+if(${CMAKE_VERSION} VERSION_LESS 3.18)
+  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
+else()
+  cmake_policy(VERSION 3.18)
+endif()
+
+# Only needed for CMake < 3.5 support
+include(CMakeParseArguments)
+
+# Filter out items; print an optional message if any items filtered
+#
+# Usage:
+#   pybind11_filter_tests(LISTNAME file1.cpp file2.cpp ... MESSAGE "")
+#
+macro(PYBIND11_FILTER_TESTS LISTNAME)
+  cmake_parse_arguments(ARG "" "MESSAGE" "" ${ARGN})
+  set(PYBIND11_FILTER_TESTS_FOUND OFF)
+  foreach(filename IN LISTS ARG_UNPARSED_ARGUMENTS)
+    list(FIND ${LISTNAME} ${filename} _FILE_FOUND)
+    if(_FILE_FOUND GREATER -1)
+      list(REMOVE_AT ${LISTNAME} ${_FILE_FOUND})
+      set(PYBIND11_FILTER_TESTS_FOUND ON)
+    endif()
+  endforeach()
+  if(PYBIND11_FILTER_TESTS_FOUND AND ARG_MESSAGE)
+    message(STATUS "${ARG_MESSAGE}")
+  endif()
+endmacro()
+
+# New Python support
+if(DEFINED Python_EXECUTABLE)
+  set(PYTHON_EXECUTABLE "${Python_EXECUTABLE}")
+  set(PYTHON_VERSION "${Python_VERSION}")
+endif()
+
+# There's no harm in including a project in a project
+project(pybind11_tests CXX)
+
+# Access FindCatch and more
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../tools")
+
+option(PYBIND11_WERROR "Report all warnings as errors" OFF)
+option(DOWNLOAD_EIGEN "Download EIGEN (requires CMake 3.11+)" OFF)
+option(PYBIND11_CUDA_TESTS "Enable building CUDA tests (requires CMake 3.12+)" OFF)
+set(PYBIND11_TEST_OVERRIDE
+    ""
+    CACHE STRING "Tests from ;-separated list of *.cpp files will be built instead of all tests")
+set(PYBIND11_TEST_FILTER
+    ""
+    CACHE STRING "Tests from ;-separated list of *.cpp files will be removed from all tests")
+
+if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
+  # We're being loaded directly, i.e. not via add_subdirectory, so make this
+  # work as its own project and load the pybind11Config to get the tools we need
+  find_package(pybind11 REQUIRED CONFIG)
+endif()
+
+if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  message(STATUS "Setting tests build type to MinSizeRel as none was specified")
+  set(CMAKE_BUILD_TYPE
+      MinSizeRel
+      CACHE STRING "Choose the type of build." FORCE)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel"
+                                               "RelWithDebInfo")
+endif()
+
+if(PYBIND11_CUDA_TESTS)
+  enable_language(CUDA)
+  if(DEFINED CMAKE_CXX_STANDARD)
+    set(CMAKE_CUDA_STANDARD ${CMAKE_CXX_STANDARD})
+  endif()
+  set(CMAKE_CUDA_STANDARD_REQUIRED ON)
+endif()
+
+# Full set of test files (you can override these; see below)
+set(PYBIND11_TEST_FILES
+    test_async.cpp
+    test_buffers.cpp
+    test_builtin_casters.cpp
+    test_call_policies.cpp
+    test_callbacks.cpp
+    test_chrono.cpp
+    test_class.cpp
+    test_constants_and_functions.cpp
+    test_copy_move.cpp
+    test_custom_type_casters.cpp
+    test_docstring_options.cpp
+    test_eigen.cpp
+    test_enum.cpp
+    test_eval.cpp
+    test_exceptions.cpp
+    test_factory_constructors.cpp
+    test_gil_scoped.cpp
+    test_iostream.cpp
+    test_kwargs_and_defaults.cpp
+    test_local_bindings.cpp
+    test_methods_and_attributes.cpp
+    test_modules.cpp
+    test_multiple_inheritance.cpp
+    test_numpy_array.cpp
+    test_numpy_dtypes.cpp
+    test_numpy_vectorize.cpp
+    test_opaque_types.cpp
+    test_operator_overloading.cpp
+    test_pickling.cpp
+    test_pytypes.cpp
+    test_sequences_and_iterators.cpp
+    test_smart_ptr.cpp
+    test_stl.cpp
+    test_stl_binders.cpp
+    test_tagbased_polymorphic.cpp
+    test_union.cpp
+    test_virtual_functions.cpp)
+
+# Invoking cmake with something like:
+#     cmake -DPYBIND11_TEST_OVERRIDE="test_callbacks.cpp;test_pickling.cpp" ..
+# lets you override the tests that get compiled and run.  You can restore to all tests with:
+#     cmake -DPYBIND11_TEST_OVERRIDE= ..
+if(PYBIND11_TEST_OVERRIDE)
+  set(PYBIND11_TEST_FILES ${PYBIND11_TEST_OVERRIDE})
+endif()
+
+# You can also filter tests:
+if(PYBIND11_TEST_FILTER)
+  pybind11_filter_tests(PYBIND11_TEST_FILES ${PYBIND11_TEST_FILTER})
+endif()
+
+if(PYTHON_VERSION VERSION_LESS 3.5)
+  pybind11_filter_tests(PYBIND11_TEST_FILES test_async.cpp MESSAGE
+                        "Skipping test_async on Python 2")
+endif()
+
+# Skip tests for CUDA check:
+# /pybind11/tests/test_constants_and_functions.cpp(125):
+#   error: incompatible exception specifications
+if(PYBIND11_CUDA_TESTS)
+  pybind11_filter_tests(
+    PYBIND11_TEST_FILES test_constants_and_functions.cpp MESSAGE
+    "Skipping test_constants_and_functions due to incompatible exception specifications")
+endif()
+
+string(REPLACE ".cpp" ".py" PYBIND11_PYTEST_FILES "${PYBIND11_TEST_FILES}")
+
+# Contains the set of test files that require pybind11_cross_module_tests to be
+# built; if none of these are built (i.e. because TEST_OVERRIDE is used and
+# doesn't include them) the second module doesn't get built.
+set(PYBIND11_CROSS_MODULE_TESTS test_exceptions.py test_local_bindings.py test_stl.py
+                                test_stl_binders.py)
+
+set(PYBIND11_CROSS_MODULE_GIL_TESTS test_gil_scoped.py)
+
+# Check if Eigen is available; if not, remove from PYBIND11_TEST_FILES (but
+# keep it in PYBIND11_PYTEST_FILES, so that we get the "eigen is not installed"
+# skip message).
+list(FIND PYBIND11_TEST_FILES test_eigen.cpp PYBIND11_TEST_FILES_EIGEN_I)
+if(PYBIND11_TEST_FILES_EIGEN_I GREATER -1)
+  # Try loading via newer Eigen's Eigen3Config first (bypassing tools/FindEigen3.cmake).
+  # Eigen 3.3.1+ exports a cmake 3.0+ target for handling dependency requirements, but also
+  # produces a fatal error if loaded from a pre-3.0 cmake.
+  if(DOWNLOAD_EIGEN)
+    if(CMAKE_VERSION VERSION_LESS 3.11)
+      message(FATAL_ERROR "CMake 3.11+ required when using DOWNLOAD_EIGEN")
+    endif()
+
+    set(EIGEN3_VERSION_STRING "3.3.7")
+
+    include(FetchContent)
+    FetchContent_Declare(
+      eigen
+      GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
+      GIT_TAG ${EIGEN3_VERSION_STRING})
+
+    FetchContent_GetProperties(eigen)
+    if(NOT eigen_POPULATED)
+      message(STATUS "Downloading Eigen")
+      FetchContent_Populate(eigen)
+    endif()
+
+    set(EIGEN3_INCLUDE_DIR ${eigen_SOURCE_DIR})
+    set(EIGEN3_FOUND TRUE)
+
+  else()
+    find_package(Eigen3 3.2.7 QUIET CONFIG)
+
+    if(NOT EIGEN3_FOUND)
+      # Couldn't load via target, so fall back to allowing module mode finding, which will pick up
+      # tools/FindEigen3.cmake
+      find_package(Eigen3 3.2.7 QUIET)
+    endif()
+  endif()
+
+  if(EIGEN3_FOUND)
+    if(NOT TARGET Eigen3::Eigen)
+      add_library(Eigen3::Eigen IMPORTED INTERFACE)
+      set_property(TARGET Eigen3::Eigen PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+                                                 "${EIGEN3_INCLUDE_DIR}")
+    endif()
+
+    # Eigen 3.3.1+ cmake sets EIGEN3_VERSION_STRING (and hard codes the version when installed
+    # rather than looking it up in the cmake script); older versions, and the
+    # tools/FindEigen3.cmake, set EIGEN3_VERSION instead.
+    if(NOT EIGEN3_VERSION AND EIGEN3_VERSION_STRING)
+      set(EIGEN3_VERSION ${EIGEN3_VERSION_STRING})
+    endif()
+    message(STATUS "Building tests with Eigen v${EIGEN3_VERSION}")
+  else()
+    list(REMOVE_AT PYBIND11_TEST_FILES ${PYBIND11_TEST_FILES_EIGEN_I})
+    message(STATUS "Building tests WITHOUT Eigen, use -DDOWNLOAD_EIGEN on CMake 3.11+ to download")
+  endif()
+endif()
+
+# Optional dependency for some tests (boost::variant is only supported with version >= 1.56)
+find_package(Boost 1.56)
+
+if(Boost_FOUND)
+  if(NOT TARGET Boost::headers)
+    if(TARGET Boost::boost)
+      # Classic FindBoost
+      add_library(Boost::headers ALIAS Boost::boost)
+    else()
+      # Very old FindBoost, or newer Boost than CMake in older CMakes
+      add_library(Boost::headers IMPORTED INTERFACE)
+      set_property(TARGET Boost::headers PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+                                                  ${Boost_INCLUDE_DIRS})
+    endif()
+  endif()
+endif()
+
+# Compile with compiler warnings turned on
+function(pybind11_enable_warnings target_name)
+  if(MSVC)
+    target_compile_options(${target_name} PRIVATE /W4)
+  elseif(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Intel|Clang)" AND NOT PYBIND11_CUDA_TESTS)
+    target_compile_options(${target_name} PRIVATE -Wall -Wextra -Wconversion -Wcast-qual
+                                                  -Wdeprecated -Wundef)
+  endif()
+
+  if(PYBIND11_WERROR)
+    if(MSVC)
+      target_compile_options(${target_name} PRIVATE /WX)
+    elseif(PYBIND11_CUDA_TESTS)
+      target_compile_options(${target_name} PRIVATE "SHELL:-Werror all-warnings")
+    elseif(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Intel|Clang)")
+      target_compile_options(${target_name} PRIVATE -Werror)
+    endif()
+  endif()
+
+  # Needs to be readded since the ordering requires these to be after the ones above
+  if(CMAKE_CXX_STANDARD
+     AND CMAKE_CXX_COMPILER_ID MATCHES "Clang"
+     AND PYTHON_VERSION VERSION_LESS 3.0)
+    if(CMAKE_CXX_STANDARD LESS 17)
+      target_compile_options(${target_name} PUBLIC -Wno-deprecated-register)
+    else()
+      target_compile_options(${target_name} PUBLIC -Wno-register)
+    endif()
+  endif()
+endfunction()
+
+set(test_targets pybind11_tests)
+
+# Build pybind11_cross_module_tests if any test_whatever.py are being built that require it
+foreach(t ${PYBIND11_CROSS_MODULE_TESTS})
+  list(FIND PYBIND11_PYTEST_FILES ${t} i)
+  if(i GREATER -1)
+    list(APPEND test_targets pybind11_cross_module_tests)
+    break()
+  endif()
+endforeach()
+
+foreach(t ${PYBIND11_CROSS_MODULE_GIL_TESTS})
+  list(FIND PYBIND11_PYTEST_FILES ${t} i)
+  if(i GREATER -1)
+    list(APPEND test_targets cross_module_gil_utils)
+    break()
+  endif()
+endforeach()
+
+# Support CUDA testing by forcing the target file to compile with NVCC
+if(PYBIND11_CUDA_TESTS)
+  set_property(SOURCE ${PYBIND11_TEST_FILES} PROPERTY LANGUAGE CUDA)
+endif()
+
+foreach(target ${test_targets})
+  set(test_files ${PYBIND11_TEST_FILES})
+  if(NOT "${target}" STREQUAL "pybind11_tests")
+    set(test_files "")
+  endif()
+
+  # Support CUDA testing by forcing the target file to compile with NVCC
+  if(PYBIND11_CUDA_TESTS)
+    set_property(SOURCE ${target}.cpp PROPERTY LANGUAGE CUDA)
+  endif()
+
+  # Create the binding library
+  pybind11_add_module(${target} THIN_LTO ${target}.cpp ${test_files} ${PYBIND11_HEADERS})
+  pybind11_enable_warnings(${target})
+
+  if(NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR)
+    get_property(
+      suffix
+      TARGET ${target}
+      PROPERTY SUFFIX)
+    set(source_output "${CMAKE_CURRENT_SOURCE_DIR}/${target}${suffix}")
+    if(suffix AND EXISTS "${source_output}")
+      message(WARNING "Output file also in source directory; "
+                      "please remove to avoid confusion: ${source_output}")
+    endif()
+  endif()
+
+  if(MSVC)
+    target_compile_options(${target} PRIVATE /utf-8)
+  endif()
+
+  if(EIGEN3_FOUND)
+    target_link_libraries(${target} PRIVATE Eigen3::Eigen)
+    target_compile_definitions(${target} PRIVATE -DPYBIND11_TEST_EIGEN)
+  endif()
+
+  if(Boost_FOUND)
+    target_link_libraries(${target} PRIVATE Boost::headers)
+    target_compile_definitions(${target} PRIVATE -DPYBIND11_TEST_BOOST)
+  endif()
+
+  # Always write the output file directly into the 'tests' directory (even on MSVC)
+  if(NOT CMAKE_LIBRARY_OUTPUT_DIRECTORY)
+    set_target_properties(${target} PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+                                               "${CMAKE_CURRENT_BINARY_DIR}")
+    foreach(config ${CMAKE_CONFIGURATION_TYPES})
+      string(TOUPPER ${config} config)
+      set_target_properties(${target} PROPERTIES LIBRARY_OUTPUT_DIRECTORY_${config}
+                                                 "${CMAKE_CURRENT_BINARY_DIR}")
+    endforeach()
+  endif()
+endforeach()
+
+# Make sure pytest is found or produce a warning
+pybind11_find_import(pytest VERSION 3.1)
+
+if(NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR)
+  # This is not used later in the build, so it's okay to regenerate each time.
+  configure_file("${CMAKE_CURRENT_SOURCE_DIR}/pytest.ini" "${CMAKE_CURRENT_BINARY_DIR}/pytest.ini"
+                 COPYONLY)
+  file(APPEND "${CMAKE_CURRENT_BINARY_DIR}/pytest.ini"
+       "\ntestpaths = \"${CMAKE_CURRENT_SOURCE_DIR}\"")
+
+endif()
+
+# cmake 3.12 added list(transform <list> prepend
+# but we can't use it yet
+string(REPLACE "test_" "${CMAKE_CURRENT_SOURCE_DIR}/test_" PYBIND11_ABS_PYTEST_FILES
+               "${PYBIND11_PYTEST_FILES}")
+
+# A single command to compile and run the tests
+add_custom_target(
+  pytest
+  COMMAND ${PYTHON_EXECUTABLE} -m pytest ${PYBIND11_ABS_PYTEST_FILES}
+  DEPENDS ${test_targets}
+  WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+  USES_TERMINAL)
+
+if(PYBIND11_TEST_OVERRIDE)
+  add_custom_command(
+    TARGET pytest
+    POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E echo
+            "Note: not all tests run: -DPYBIND11_TEST_OVERRIDE is in effect")
+endif()
+
+# Add a check target to run all the tests, starting with pytest (we add dependencies to this below)
+add_custom_target(check DEPENDS pytest)
+
+# The remaining tests only apply when being built as part of the pybind11 project, but not if the
+# tests are being built independently.
+if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
+  return()
+endif()
+
+# Add a post-build comment to show the primary test suite .so size and, if a previous size, compare it:
+add_custom_command(
+  TARGET pybind11_tests
+  POST_BUILD
+  COMMAND
+    ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/../tools/libsize.py
+    $<TARGET_FILE:pybind11_tests>
+    ${CMAKE_CURRENT_BINARY_DIR}/sosize-$<TARGET_FILE_NAME:pybind11_tests>.txt)
+
+if(NOT PYBIND11_CUDA_TESTS)
+  # Test embedding the interpreter. Provides the `cpptest` target.
+  add_subdirectory(test_embed)
+
+  # Test CMake build using functions and targets from subdirectory or installed location
+  add_subdirectory(test_cmake_build)
+endif()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/conftest.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/conftest.py
new file mode 100644
index 0000000..a2350d0
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/conftest.py
@@ -0,0 +1,200 @@
+# -*- coding: utf-8 -*-
+"""pytest configuration
+
+Extends output capture as needed by pybind11: ignore constructors, optional unordered lines.
+Adds docstring and exceptions message sanitizers: ignore Python 2 vs 3 differences.
+"""
+
+import contextlib
+import difflib
+import gc
+import re
+import textwrap
+
+import pytest
+
+import env
+
+# Early diagnostic for failed imports
+import pybind11_tests  # noqa: F401
+
+_unicode_marker = re.compile(r'u(\'[^\']*\')')
+_long_marker = re.compile(r'([0-9])L')
+_hexadecimal = re.compile(r'0x[0-9a-fA-F]+')
+
+# Avoid collecting Python3 only files
+collect_ignore = []
+if env.PY2:
+    collect_ignore.append("test_async.py")
+
+
+def _strip_and_dedent(s):
+    """For triple-quote strings"""
+    return textwrap.dedent(s.lstrip('\n').rstrip())
+
+
+def _split_and_sort(s):
+    """For output which does not require specific line order"""
+    return sorted(_strip_and_dedent(s).splitlines())
+
+
+def _make_explanation(a, b):
+    """Explanation for a failed assert -- the a and b arguments are List[str]"""
+    return ["--- actual / +++ expected"] + [line.strip('\n') for line in difflib.ndiff(a, b)]
+
+
+class Output(object):
+    """Basic output post-processing and comparison"""
+    def __init__(self, string):
+        self.string = string
+        self.explanation = []
+
+    def __str__(self):
+        return self.string
+
+    def __eq__(self, other):
+        # Ignore constructor/destructor output which is prefixed with "###"
+        a = [line for line in self.string.strip().splitlines() if not line.startswith("###")]
+        b = _strip_and_dedent(other).splitlines()
+        if a == b:
+            return True
+        else:
+            self.explanation = _make_explanation(a, b)
+            return False
+
+
+class Unordered(Output):
+    """Custom comparison for output without strict line ordering"""
+    def __eq__(self, other):
+        a = _split_and_sort(self.string)
+        b = _split_and_sort(other)
+        if a == b:
+            return True
+        else:
+            self.explanation = _make_explanation(a, b)
+            return False
+
+
+class Capture(object):
+    def __init__(self, capfd):
+        self.capfd = capfd
+        self.out = ""
+        self.err = ""
+
+    def __enter__(self):
+        self.capfd.readouterr()
+        return self
+
+    def __exit__(self, *args):
+        self.out, self.err = self.capfd.readouterr()
+
+    def __eq__(self, other):
+        a = Output(self.out)
+        b = other
+        if a == b:
+            return True
+        else:
+            self.explanation = a.explanation
+            return False
+
+    def __str__(self):
+        return self.out
+
+    def __contains__(self, item):
+        return item in self.out
+
+    @property
+    def unordered(self):
+        return Unordered(self.out)
+
+    @property
+    def stderr(self):
+        return Output(self.err)
+
+
+@pytest.fixture
+def capture(capsys):
+    """Extended `capsys` with context manager and custom equality operators"""
+    return Capture(capsys)
+
+
+class SanitizedString(object):
+    def __init__(self, sanitizer):
+        self.sanitizer = sanitizer
+        self.string = ""
+        self.explanation = []
+
+    def __call__(self, thing):
+        self.string = self.sanitizer(thing)
+        return self
+
+    def __eq__(self, other):
+        a = self.string
+        b = _strip_and_dedent(other)
+        if a == b:
+            return True
+        else:
+            self.explanation = _make_explanation(a.splitlines(), b.splitlines())
+            return False
+
+
+def _sanitize_general(s):
+    s = s.strip()
+    s = s.replace("pybind11_tests.", "m.")
+    s = s.replace("unicode", "str")
+    s = _long_marker.sub(r"\1", s)
+    s = _unicode_marker.sub(r"\1", s)
+    return s
+
+
+def _sanitize_docstring(thing):
+    s = thing.__doc__
+    s = _sanitize_general(s)
+    return s
+
+
+@pytest.fixture
+def doc():
+    """Sanitize docstrings and add custom failure explanation"""
+    return SanitizedString(_sanitize_docstring)
+
+
+def _sanitize_message(thing):
+    s = str(thing)
+    s = _sanitize_general(s)
+    s = _hexadecimal.sub("0", s)
+    return s
+
+
+@pytest.fixture
+def msg():
+    """Sanitize messages and add custom failure explanation"""
+    return SanitizedString(_sanitize_message)
+
+
+# noinspection PyUnusedLocal
+def pytest_assertrepr_compare(op, left, right):
+    """Hook to insert custom failure explanation"""
+    if hasattr(left, 'explanation'):
+        return left.explanation
+
+
+@contextlib.contextmanager
+def suppress(exception):
+    """Suppress the desired exception"""
+    try:
+        yield
+    except exception:
+        pass
+
+
+def gc_collect():
+    ''' Run the garbage collector twice (needed when running
+    reference counting tests with PyPy) '''
+    gc.collect()
+    gc.collect()
+
+
+def pytest_configure():
+    pytest.suppress = suppress
+    pytest.gc_collect = gc_collect
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/constructor_stats.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/constructor_stats.h
new file mode 100644
index 0000000..805968a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/constructor_stats.h
@@ -0,0 +1,275 @@
+#pragma once
+/*
+    tests/constructor_stats.h -- framework for printing and tracking object
+    instance lifetimes in example/test code.
+
+    Copyright (c) 2016 Jason Rhinelander <jason@imaginary.ca>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+
+This header provides a few useful tools for writing examples or tests that want to check and/or
+display object instance lifetimes.  It requires that you include this header and add the following
+function calls to constructors:
+
+    class MyClass {
+        MyClass() { ...; print_default_created(this); }
+        ~MyClass() { ...; print_destroyed(this); }
+        MyClass(const MyClass &c) { ...; print_copy_created(this); }
+        MyClass(MyClass &&c) { ...; print_move_created(this); }
+        MyClass(int a, int b) { ...; print_created(this, a, b); }
+        MyClass &operator=(const MyClass &c) { ...; print_copy_assigned(this); }
+        MyClass &operator=(MyClass &&c) { ...; print_move_assigned(this); }
+
+        ...
+    }
+
+You can find various examples of these in several of the existing testing .cpp files.  (Of course
+you don't need to add any of the above constructors/operators that you don't actually have, except
+for the destructor).
+
+Each of these will print an appropriate message such as:
+
+    ### MyClass @ 0x2801910 created via default constructor
+    ### MyClass @ 0x27fa780 created 100 200
+    ### MyClass @ 0x2801910 destroyed
+    ### MyClass @ 0x27fa780 destroyed
+
+You can also include extra arguments (such as the 100, 200 in the output above, coming from the
+value constructor) for all of the above methods which will be included in the output.
+
+For testing, each of these also keeps track the created instances and allows you to check how many
+of the various constructors have been invoked from the Python side via code such as:
+
+    from pybind11_tests import ConstructorStats
+    cstats = ConstructorStats.get(MyClass)
+    print(cstats.alive())
+    print(cstats.default_constructions)
+
+Note that `.alive()` should usually be the first thing you call as it invokes Python's garbage
+collector to actually destroy objects that aren't yet referenced.
+
+For everything except copy and move constructors and destructors, any extra values given to the
+print_...() function is stored in a class-specific values list which you can retrieve and inspect
+from the ConstructorStats instance `.values()` method.
+
+In some cases, when you need to track instances of a C++ class not registered with pybind11, you
+need to add a function returning the ConstructorStats for the C++ class; this can be done with:
+
+    m.def("get_special_cstats", &ConstructorStats::get<SpecialClass>, py::return_value_policy::reference)
+
+Finally, you can suppress the output messages, but keep the constructor tracking (for
+inspection/testing in python) by using the functions with `print_` replaced with `track_` (e.g.
+`track_copy_created(this)`).
+
+*/
+
+#include "pybind11_tests.h"
+#include <unordered_map>
+#include <list>
+#include <typeindex>
+#include <sstream>
+
+class ConstructorStats {
+protected:
+    std::unordered_map<void*, int> _instances; // Need a map rather than set because members can shared address with parents
+    std::list<std::string> _values; // Used to track values (e.g. of value constructors)
+public:
+    int default_constructions = 0;
+    int copy_constructions = 0;
+    int move_constructions = 0;
+    int copy_assignments = 0;
+    int move_assignments = 0;
+
+    void copy_created(void *inst) {
+        created(inst);
+        copy_constructions++;
+    }
+
+    void move_created(void *inst) {
+        created(inst);
+        move_constructions++;
+    }
+
+    void default_created(void *inst) {
+        created(inst);
+        default_constructions++;
+    }
+
+    void created(void *inst) {
+        ++_instances[inst];
+    }
+
+    void destroyed(void *inst) {
+        if (--_instances[inst] < 0)
+            throw std::runtime_error("cstats.destroyed() called with unknown "
+                                     "instance; potential double-destruction "
+                                     "or a missing cstats.created()");
+    }
+
+    static void gc() {
+        // Force garbage collection to ensure any pending destructors are invoked:
+#if defined(PYPY_VERSION)
+        PyObject *globals = PyEval_GetGlobals();
+        PyObject *result = PyRun_String(
+            "import gc\n"
+            "for i in range(2):"
+            "    gc.collect()\n",
+            Py_file_input, globals, globals);
+        if (result == nullptr)
+            throw py::error_already_set();
+        Py_DECREF(result);
+#else
+        py::module_::import("gc").attr("collect")();
+#endif
+    }
+
+    int alive() {
+        gc();
+        int total = 0;
+        for (const auto &p : _instances)
+            if (p.second > 0)
+                total += p.second;
+        return total;
+    }
+
+    void value() {} // Recursion terminator
+    // Takes one or more values, converts them to strings, then stores them.
+    template <typename T, typename... Tmore> void value(const T &v, Tmore &&...args) {
+        std::ostringstream oss;
+        oss << v;
+        _values.push_back(oss.str());
+        value(std::forward<Tmore>(args)...);
+    }
+
+    // Move out stored values
+    py::list values() {
+        py::list l;
+        for (const auto &v : _values) l.append(py::cast(v));
+        _values.clear();
+        return l;
+    }
+
+    // Gets constructor stats from a C++ type index
+    static ConstructorStats& get(std::type_index type) {
+        static std::unordered_map<std::type_index, ConstructorStats> all_cstats;
+        return all_cstats[type];
+    }
+
+    // Gets constructor stats from a C++ type
+    template <typename T> static ConstructorStats& get() {
+#if defined(PYPY_VERSION)
+        gc();
+#endif
+        return get(typeid(T));
+    }
+
+    // Gets constructor stats from a Python class
+    static ConstructorStats& get(py::object class_) {
+        auto &internals = py::detail::get_internals();
+        const std::type_index *t1 = nullptr, *t2 = nullptr;
+        try {
+            auto *type_info = internals.registered_types_py.at((PyTypeObject *) class_.ptr()).at(0);
+            for (auto &p : internals.registered_types_cpp) {
+                if (p.second == type_info) {
+                    if (t1) {
+                        t2 = &p.first;
+                        break;
+                    }
+                    t1 = &p.first;
+                }
+            }
+        }
+        catch (const std::out_of_range&) {}
+        if (!t1) throw std::runtime_error("Unknown class passed to ConstructorStats::get()");
+        auto &cs1 = get(*t1);
+        // If we have both a t1 and t2 match, one is probably the trampoline class; return whichever
+        // has more constructions (typically one or the other will be 0)
+        if (t2) {
+            auto &cs2 = get(*t2);
+            int cs1_total = cs1.default_constructions + cs1.copy_constructions + cs1.move_constructions + (int) cs1._values.size();
+            int cs2_total = cs2.default_constructions + cs2.copy_constructions + cs2.move_constructions + (int) cs2._values.size();
+            if (cs2_total > cs1_total) return cs2;
+        }
+        return cs1;
+    }
+};
+
+// To track construction/destruction, you need to call these methods from the various
+// constructors/operators.  The ones that take extra values record the given values in the
+// constructor stats values for later inspection.
+template <class T> void track_copy_created(T *inst) { ConstructorStats::get<T>().copy_created(inst); }
+template <class T> void track_move_created(T *inst) { ConstructorStats::get<T>().move_created(inst); }
+template <class T, typename... Values> void track_copy_assigned(T *, Values &&...values) {
+    auto &cst = ConstructorStats::get<T>();
+    cst.copy_assignments++;
+    cst.value(std::forward<Values>(values)...);
+}
+template <class T, typename... Values> void track_move_assigned(T *, Values &&...values) {
+    auto &cst = ConstructorStats::get<T>();
+    cst.move_assignments++;
+    cst.value(std::forward<Values>(values)...);
+}
+template <class T, typename... Values> void track_default_created(T *inst, Values &&...values) {
+    auto &cst = ConstructorStats::get<T>();
+    cst.default_created(inst);
+    cst.value(std::forward<Values>(values)...);
+}
+template <class T, typename... Values> void track_created(T *inst, Values &&...values) {
+    auto &cst = ConstructorStats::get<T>();
+    cst.created(inst);
+    cst.value(std::forward<Values>(values)...);
+}
+template <class T, typename... Values> void track_destroyed(T *inst) {
+    ConstructorStats::get<T>().destroyed(inst);
+}
+template <class T, typename... Values> void track_values(T *, Values &&...values) {
+    ConstructorStats::get<T>().value(std::forward<Values>(values)...);
+}
+
+/// Don't cast pointers to Python, print them as strings
+inline const char *format_ptrs(const char *p) { return p; }
+template <typename T>
+py::str format_ptrs(T *p) { return "{:#x}"_s.format(reinterpret_cast<std::uintptr_t>(p)); }
+template <typename T>
+auto format_ptrs(T &&x) -> decltype(std::forward<T>(x)) { return std::forward<T>(x); }
+
+template <class T, typename... Output>
+void print_constr_details(T *inst, const std::string &action, Output &&...output) {
+    py::print("###", py::type_id<T>(), "@", format_ptrs(inst), action,
+              format_ptrs(std::forward<Output>(output))...);
+}
+
+// Verbose versions of the above:
+template <class T, typename... Values> void print_copy_created(T *inst, Values &&...values) { // NB: this prints, but doesn't store, given values
+    print_constr_details(inst, "created via copy constructor", values...);
+    track_copy_created(inst);
+}
+template <class T, typename... Values> void print_move_created(T *inst, Values &&...values) { // NB: this prints, but doesn't store, given values
+    print_constr_details(inst, "created via move constructor", values...);
+    track_move_created(inst);
+}
+template <class T, typename... Values> void print_copy_assigned(T *inst, Values &&...values) {
+    print_constr_details(inst, "assigned via copy assignment", values...);
+    track_copy_assigned(inst, values...);
+}
+template <class T, typename... Values> void print_move_assigned(T *inst, Values &&...values) {
+    print_constr_details(inst, "assigned via move assignment", values...);
+    track_move_assigned(inst, values...);
+}
+template <class T, typename... Values> void print_default_created(T *inst, Values &&...values) {
+    print_constr_details(inst, "created via default constructor", values...);
+    track_default_created(inst, values...);
+}
+template <class T, typename... Values> void print_created(T *inst, Values &&...values) {
+    print_constr_details(inst, "created", values...);
+    track_created(inst, values...);
+}
+template <class T, typename... Values> void print_destroyed(T *inst, Values &&...values) { // Prints but doesn't store given values
+    print_constr_details(inst, "destroyed", values...);
+    track_destroyed(inst);
+}
+template <class T, typename... Values> void print_values(T *inst, Values &&...values) {
+    print_constr_details(inst, ":", values...);
+    track_values(inst, values...);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/cross_module_gil_utils.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/cross_module_gil_utils.cpp
new file mode 100644
index 0000000..07db9f6
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/cross_module_gil_utils.cpp
@@ -0,0 +1,73 @@
+/*
+    tests/cross_module_gil_utils.cpp -- tools for acquiring GIL from a different module
+
+    Copyright (c) 2019 Google LLC
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+#include <pybind11/pybind11.h>
+#include <cstdint>
+
+// This file mimics a DSO that makes pybind11 calls but does not define a
+// PYBIND11_MODULE. The purpose is to test that such a DSO can create a
+// py::gil_scoped_acquire when the running thread is in a GIL-released state.
+//
+// Note that we define a Python module here for convenience, but in general
+// this need not be the case. The typical scenario would be a DSO that implements
+// shared logic used internally by multiple pybind11 modules.
+
+namespace {
+
+namespace py = pybind11;
+void gil_acquire() { py::gil_scoped_acquire gil; }
+
+constexpr char kModuleName[] = "cross_module_gil_utils";
+
+#if PY_MAJOR_VERSION >= 3
+struct PyModuleDef moduledef = {
+    PyModuleDef_HEAD_INIT,
+    kModuleName,
+    NULL,
+    0,
+    NULL,
+    NULL,
+    NULL,
+    NULL,
+    NULL
+};
+#else
+PyMethodDef module_methods[] = {
+    {NULL, NULL, 0, NULL}
+};
+#endif
+
+}  // namespace
+
+extern "C" PYBIND11_EXPORT
+#if PY_MAJOR_VERSION >= 3
+PyObject* PyInit_cross_module_gil_utils()
+#else
+void initcross_module_gil_utils()
+#endif
+{
+
+    PyObject* m =
+#if PY_MAJOR_VERSION >= 3
+        PyModule_Create(&moduledef);
+#else
+        Py_InitModule(kModuleName, module_methods);
+#endif
+
+    if (m != NULL) {
+        static_assert(
+            sizeof(&gil_acquire) == sizeof(void*),
+            "Function pointer must have the same size as void*");
+        PyModule_AddObject(m, "gil_acquire_funcaddr",
+                           PyLong_FromVoidPtr(reinterpret_cast<void*>(&gil_acquire)));
+    }
+
+#if PY_MAJOR_VERSION >= 3
+    return m;
+#endif
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/env.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/env.py
new file mode 100644
index 0000000..5cded44
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/env.py
@@ -0,0 +1,14 @@
+# -*- coding: utf-8 -*-
+import platform
+import sys
+
+LINUX = sys.platform.startswith("linux")
+MACOS = sys.platform.startswith("darwin")
+WIN = sys.platform.startswith("win32") or sys.platform.startswith("cygwin")
+
+CPYTHON = platform.python_implementation() == "CPython"
+PYPY = platform.python_implementation() == "PyPy"
+
+PY2 = sys.version_info.major == 2
+
+PY = sys.version_info
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/pytest.ini b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/pytest.ini
new file mode 100644
index 0000000..e69de29
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/test_files.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/test_files.py
new file mode 100644
index 0000000..94df1e7
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_python_package/test_files.py
@@ -0,0 +1,259 @@
+# -*- coding: utf-8 -*-
+import contextlib
+import os
+import string
+import subprocess
+import sys
+import tarfile
+import zipfile
+
+# These tests must be run explicitly
+# They require CMake 3.15+ (--install)
+
+DIR = os.path.abspath(os.path.dirname(__file__))
+MAIN_DIR = os.path.dirname(os.path.dirname(DIR))
+
+
+main_headers = {
+    "include/pybind11/attr.h",
+    "include/pybind11/buffer_info.h",
+    "include/pybind11/cast.h",
+    "include/pybind11/chrono.h",
+    "include/pybind11/common.h",
+    "include/pybind11/complex.h",
+    "include/pybind11/eigen.h",
+    "include/pybind11/embed.h",
+    "include/pybind11/eval.h",
+    "include/pybind11/functional.h",
+    "include/pybind11/iostream.h",
+    "include/pybind11/numpy.h",
+    "include/pybind11/operators.h",
+    "include/pybind11/options.h",
+    "include/pybind11/pybind11.h",
+    "include/pybind11/pytypes.h",
+    "include/pybind11/stl.h",
+    "include/pybind11/stl_bind.h",
+}
+
+detail_headers = {
+    "include/pybind11/detail/class.h",
+    "include/pybind11/detail/common.h",
+    "include/pybind11/detail/descr.h",
+    "include/pybind11/detail/init.h",
+    "include/pybind11/detail/internals.h",
+    "include/pybind11/detail/typeid.h",
+}
+
+cmake_files = {
+    "share/cmake/pybind11/FindPythonLibsNew.cmake",
+    "share/cmake/pybind11/pybind11Common.cmake",
+    "share/cmake/pybind11/pybind11Config.cmake",
+    "share/cmake/pybind11/pybind11ConfigVersion.cmake",
+    "share/cmake/pybind11/pybind11NewTools.cmake",
+    "share/cmake/pybind11/pybind11Targets.cmake",
+    "share/cmake/pybind11/pybind11Tools.cmake",
+}
+
+py_files = {
+    "__init__.py",
+    "__main__.py",
+    "_version.py",
+    "commands.py",
+    "setup_helpers.py",
+}
+
+headers = main_headers | detail_headers
+src_files = headers | cmake_files
+all_files = src_files | py_files
+
+
+sdist_files = {
+    "pybind11",
+    "pybind11/include",
+    "pybind11/include/pybind11",
+    "pybind11/include/pybind11/detail",
+    "pybind11/share",
+    "pybind11/share/cmake",
+    "pybind11/share/cmake/pybind11",
+    "pyproject.toml",
+    "setup.cfg",
+    "setup.py",
+    "LICENSE",
+    "MANIFEST.in",
+    "README.rst",
+    "PKG-INFO",
+}
+
+local_sdist_files = {
+    ".egg-info",
+    ".egg-info/PKG-INFO",
+    ".egg-info/SOURCES.txt",
+    ".egg-info/dependency_links.txt",
+    ".egg-info/not-zip-safe",
+    ".egg-info/top_level.txt",
+}
+
+
+def test_build_sdist(monkeypatch, tmpdir):
+
+    monkeypatch.chdir(MAIN_DIR)
+
+    out = subprocess.check_output(
+        [
+            sys.executable,
+            "setup.py",
+            "sdist",
+            "--formats=tar",
+            "--dist-dir",
+            str(tmpdir),
+        ]
+    )
+    if hasattr(out, "decode"):
+        out = out.decode()
+
+    (sdist,) = tmpdir.visit("*.tar")
+
+    with tarfile.open(str(sdist)) as tar:
+        start = tar.getnames()[0] + "/"
+        version = start[9:-1]
+        simpler = set(n.split("/", 1)[-1] for n in tar.getnames()[1:])
+
+        with contextlib.closing(
+            tar.extractfile(tar.getmember(start + "setup.py"))
+        ) as f:
+            setup_py = f.read()
+
+        with contextlib.closing(
+            tar.extractfile(tar.getmember(start + "pyproject.toml"))
+        ) as f:
+            pyproject_toml = f.read()
+
+    files = set("pybind11/{}".format(n) for n in all_files)
+    files |= sdist_files
+    files |= set("pybind11{}".format(n) for n in local_sdist_files)
+    files.add("pybind11.egg-info/entry_points.txt")
+    files.add("pybind11.egg-info/requires.txt")
+    assert simpler == files
+
+    with open(os.path.join(MAIN_DIR, "tools", "setup_main.py.in"), "rb") as f:
+        contents = (
+            string.Template(f.read().decode())
+            .substitute(version=version, extra_cmd="")
+            .encode()
+        )
+        assert setup_py == contents
+
+    with open(os.path.join(MAIN_DIR, "tools", "pyproject.toml"), "rb") as f:
+        contents = f.read()
+        assert pyproject_toml == contents
+
+
+def test_build_global_dist(monkeypatch, tmpdir):
+
+    monkeypatch.chdir(MAIN_DIR)
+    monkeypatch.setenv("PYBIND11_GLOBAL_SDIST", "1")
+
+    out = subprocess.check_output(
+        [
+            sys.executable,
+            "setup.py",
+            "sdist",
+            "--formats=tar",
+            "--dist-dir",
+            str(tmpdir),
+        ]
+    )
+    if hasattr(out, "decode"):
+        out = out.decode()
+
+    (sdist,) = tmpdir.visit("*.tar")
+
+    with tarfile.open(str(sdist)) as tar:
+        start = tar.getnames()[0] + "/"
+        version = start[16:-1]
+        simpler = set(n.split("/", 1)[-1] for n in tar.getnames()[1:])
+
+        with contextlib.closing(
+            tar.extractfile(tar.getmember(start + "setup.py"))
+        ) as f:
+            setup_py = f.read()
+
+        with contextlib.closing(
+            tar.extractfile(tar.getmember(start + "pyproject.toml"))
+        ) as f:
+            pyproject_toml = f.read()
+
+    files = set("pybind11/{}".format(n) for n in all_files)
+    files |= sdist_files
+    files |= set("pybind11_global{}".format(n) for n in local_sdist_files)
+    assert simpler == files
+
+    with open(os.path.join(MAIN_DIR, "tools", "setup_global.py.in"), "rb") as f:
+        contents = (
+            string.Template(f.read().decode())
+            .substitute(version=version, extra_cmd="")
+            .encode()
+        )
+        assert setup_py == contents
+
+    with open(os.path.join(MAIN_DIR, "tools", "pyproject.toml"), "rb") as f:
+        contents = f.read()
+        assert pyproject_toml == contents
+
+
+def tests_build_wheel(monkeypatch, tmpdir):
+    monkeypatch.chdir(MAIN_DIR)
+
+    subprocess.check_output(
+        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)]
+    )
+
+    (wheel,) = tmpdir.visit("*.whl")
+
+    files = set("pybind11/{}".format(n) for n in all_files)
+    files |= {
+        "dist-info/LICENSE",
+        "dist-info/METADATA",
+        "dist-info/RECORD",
+        "dist-info/WHEEL",
+        "dist-info/entry_points.txt",
+        "dist-info/top_level.txt",
+    }
+
+    with zipfile.ZipFile(str(wheel)) as z:
+        names = z.namelist()
+
+    trimmed = set(n for n in names if "dist-info" not in n)
+    trimmed |= set(
+        "dist-info/{}".format(n.split("/", 1)[-1]) for n in names if "dist-info" in n
+    )
+    assert files == trimmed
+
+
+def tests_build_global_wheel(monkeypatch, tmpdir):
+    monkeypatch.chdir(MAIN_DIR)
+    monkeypatch.setenv("PYBIND11_GLOBAL_SDIST", "1")
+
+    subprocess.check_output(
+        [sys.executable, "-m", "pip", "wheel", ".", "-w", str(tmpdir)]
+    )
+
+    (wheel,) = tmpdir.visit("*.whl")
+
+    files = set("data/data/{}".format(n) for n in src_files)
+    files |= set("data/headers/{}".format(n[8:]) for n in headers)
+    files |= {
+        "dist-info/LICENSE",
+        "dist-info/METADATA",
+        "dist-info/WHEEL",
+        "dist-info/top_level.txt",
+        "dist-info/RECORD",
+    }
+
+    with zipfile.ZipFile(str(wheel)) as z:
+        names = z.namelist()
+
+    beginning = names[0].split("/", 1)[0].rsplit(".", 1)[0]
+    trimmed = set(n[len(beginning) + 1 :] for n in names)
+
+    assert files == trimmed
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/pytest.ini b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/pytest.ini
new file mode 100644
index 0000000..e69de29
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/test_setuphelper.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/test_setuphelper.py
new file mode 100644
index 0000000..0d8bd0e
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/extra_setuptools/test_setuphelper.py
@@ -0,0 +1,101 @@
+# -*- coding: utf-8 -*-
+import os
+import sys
+import subprocess
+from textwrap import dedent
+
+import pytest
+
+DIR = os.path.abspath(os.path.dirname(__file__))
+MAIN_DIR = os.path.dirname(os.path.dirname(DIR))
+
+
+@pytest.mark.parametrize("parallel", [False, True])
+@pytest.mark.parametrize("std", [11, 0])
+def test_simple_setup_py(monkeypatch, tmpdir, parallel, std):
+    monkeypatch.chdir(tmpdir)
+    monkeypatch.syspath_prepend(MAIN_DIR)
+
+    (tmpdir / "setup.py").write_text(
+        dedent(
+            u"""\
+            import sys
+            sys.path.append({MAIN_DIR!r})
+
+            from setuptools import setup, Extension
+            from pybind11.setup_helpers import build_ext, Pybind11Extension
+
+            std = {std}
+
+            ext_modules = [
+                Pybind11Extension(
+                    "simple_setup",
+                    sorted(["main.cpp"]),
+                    cxx_std=std,
+                ),
+            ]
+
+            cmdclass = dict()
+            if std == 0:
+                cmdclass["build_ext"] = build_ext
+
+
+            parallel = {parallel}
+            if parallel:
+                from pybind11.setup_helpers import ParallelCompile
+                ParallelCompile().install()
+
+            setup(
+                name="simple_setup_package",
+                cmdclass=cmdclass,
+                ext_modules=ext_modules,
+            )
+            """
+        ).format(MAIN_DIR=MAIN_DIR, std=std, parallel=parallel),
+        encoding="ascii",
+    )
+
+    (tmpdir / "main.cpp").write_text(
+        dedent(
+            u"""\
+            #include <pybind11/pybind11.h>
+
+            int f(int x) {
+                return x * 3;
+            }
+            PYBIND11_MODULE(simple_setup, m) {
+                m.def("f", &f);
+            }
+            """
+        ),
+        encoding="ascii",
+    )
+
+    subprocess.check_call(
+        [sys.executable, "setup.py", "build_ext", "--inplace"],
+        stdout=sys.stdout,
+        stderr=sys.stderr,
+    )
+
+    # Debug helper printout, normally hidden
+    for item in tmpdir.listdir():
+        print(item.basename)
+
+    assert (
+        len([f for f in tmpdir.listdir() if f.basename.startswith("simple_setup")]) == 1
+    )
+    assert len(list(tmpdir.listdir())) == 4  # two files + output + build_dir
+
+    (tmpdir / "test.py").write_text(
+        dedent(
+            u"""\
+            import simple_setup
+            assert simple_setup.f(3) == 9
+            """
+        ),
+        encoding="ascii",
+    )
+
+    subprocess.check_call(
+        [sys.executable, "test.py"], stdout=sys.stdout, stderr=sys.stderr
+    )
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/local_bindings.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/local_bindings.h
new file mode 100644
index 0000000..22537b1
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/local_bindings.h
@@ -0,0 +1,64 @@
+#pragma once
+#include "pybind11_tests.h"
+
+/// Simple class used to test py::local:
+template <int> class LocalBase {
+public:
+    LocalBase(int i) : i(i) { }
+    int i = -1;
+};
+
+/// Registered with py::module_local in both main and secondary modules:
+using LocalType = LocalBase<0>;
+/// Registered without py::module_local in both modules:
+using NonLocalType = LocalBase<1>;
+/// A second non-local type (for stl_bind tests):
+using NonLocal2 = LocalBase<2>;
+/// Tests within-module, different-compilation-unit local definition conflict:
+using LocalExternal = LocalBase<3>;
+/// Mixed: registered local first, then global
+using MixedLocalGlobal = LocalBase<4>;
+/// Mixed: global first, then local
+using MixedGlobalLocal = LocalBase<5>;
+
+/// Registered with py::module_local only in the secondary module:
+using ExternalType1 = LocalBase<6>;
+using ExternalType2 = LocalBase<7>;
+
+using LocalVec = std::vector<LocalType>;
+using LocalVec2 = std::vector<NonLocal2>;
+using LocalMap = std::unordered_map<std::string, LocalType>;
+using NonLocalVec = std::vector<NonLocalType>;
+using NonLocalVec2 = std::vector<NonLocal2>;
+using NonLocalMap = std::unordered_map<std::string, NonLocalType>;
+using NonLocalMap2 = std::unordered_map<std::string, uint8_t>;
+
+PYBIND11_MAKE_OPAQUE(LocalVec);
+PYBIND11_MAKE_OPAQUE(LocalVec2);
+PYBIND11_MAKE_OPAQUE(LocalMap);
+PYBIND11_MAKE_OPAQUE(NonLocalVec);
+//PYBIND11_MAKE_OPAQUE(NonLocalVec2); // same type as LocalVec2
+PYBIND11_MAKE_OPAQUE(NonLocalMap);
+PYBIND11_MAKE_OPAQUE(NonLocalMap2);
+
+
+// Simple bindings (used with the above):
+template <typename T, int Adjust = 0, typename... Args>
+py::class_<T> bind_local(Args && ...args) {
+    return py::class_<T>(std::forward<Args>(args)...)
+        .def(py::init<int>())
+        .def("get", [](T &i) { return i.i + Adjust; });
+};
+
+// Simulate a foreign library base class (to match the example in the docs):
+namespace pets {
+class Pet {
+public:
+    Pet(std::string name) : name_(name) {}
+    std::string name_;
+    const std::string &name() { return name_; }
+};
+} // namespace pets
+
+struct MixGL { int i; MixGL(int i) : i{i} {} };
+struct MixGL2 { int i; MixGL2(int i) : i{i} {} };
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/object.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/object.h
new file mode 100644
index 0000000..9235f19
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/object.h
@@ -0,0 +1,175 @@
+#if !defined(__OBJECT_H)
+#define __OBJECT_H
+
+#include <atomic>
+#include "constructor_stats.h"
+
+/// Reference counted object base class
+class Object {
+public:
+    /// Default constructor
+    Object() { print_default_created(this); }
+
+    /// Copy constructor
+    Object(const Object &) : m_refCount(0) { print_copy_created(this); }
+
+    /// Return the current reference count
+    int getRefCount() const { return m_refCount; };
+
+    /// Increase the object's reference count by one
+    void incRef() const { ++m_refCount; }
+
+    /** \brief Decrease the reference count of
+     * the object and possibly deallocate it.
+     *
+     * The object will automatically be deallocated once
+     * the reference count reaches zero.
+     */
+    void decRef(bool dealloc = true) const {
+        --m_refCount;
+        if (m_refCount == 0 && dealloc)
+            delete this;
+        else if (m_refCount < 0)
+            throw std::runtime_error("Internal error: reference count < 0!");
+    }
+
+    virtual std::string toString() const = 0;
+protected:
+    /** \brief Virtual protected deconstructor.
+     * (Will only be called by \ref ref)
+     */
+    virtual ~Object() { print_destroyed(this); }
+private:
+    mutable std::atomic<int> m_refCount { 0 };
+};
+
+// Tag class used to track constructions of ref objects.  When we track constructors, below, we
+// track and print out the actual class (e.g. ref<MyObject>), and *also* add a fake tracker for
+// ref_tag.  This lets us check that the total number of ref<Anything> constructors/destructors is
+// correct without having to check each individual ref<Whatever> type individually.
+class ref_tag {};
+
+/**
+ * \brief Reference counting helper
+ *
+ * The \a ref refeference template is a simple wrapper to store a
+ * pointer to an object. It takes care of increasing and decreasing
+ * the reference count of the object. When the last reference goes
+ * out of scope, the associated object will be deallocated.
+ *
+ * \ingroup libcore
+ */
+template <typename T> class ref {
+public:
+    /// Create a nullptr reference
+    ref() : m_ptr(nullptr) { print_default_created(this); track_default_created((ref_tag*) this); }
+
+    /// Construct a reference from a pointer
+    ref(T *ptr) : m_ptr(ptr) {
+        if (m_ptr) ((Object *) m_ptr)->incRef();
+
+        print_created(this, "from pointer", m_ptr); track_created((ref_tag*) this, "from pointer");
+
+    }
+
+    /// Copy constructor
+    ref(const ref &r) : m_ptr(r.m_ptr) {
+        if (m_ptr)
+            ((Object *) m_ptr)->incRef();
+
+        print_copy_created(this, "with pointer", m_ptr); track_copy_created((ref_tag*) this);
+    }
+
+    /// Move constructor
+    ref(ref &&r) : m_ptr(r.m_ptr) {
+        r.m_ptr = nullptr;
+
+        print_move_created(this, "with pointer", m_ptr); track_move_created((ref_tag*) this);
+    }
+
+    /// Destroy this reference
+    ~ref() {
+        if (m_ptr)
+            ((Object *) m_ptr)->decRef();
+
+        print_destroyed(this); track_destroyed((ref_tag*) this);
+    }
+
+    /// Move another reference into the current one
+    ref& operator=(ref&& r) {
+        print_move_assigned(this, "pointer", r.m_ptr); track_move_assigned((ref_tag*) this);
+
+        if (*this == r)
+            return *this;
+        if (m_ptr)
+            ((Object *) m_ptr)->decRef();
+        m_ptr = r.m_ptr;
+        r.m_ptr = nullptr;
+        return *this;
+    }
+
+    /// Overwrite this reference with another reference
+    ref& operator=(const ref& r) {
+        print_copy_assigned(this, "pointer", r.m_ptr); track_copy_assigned((ref_tag*) this);
+
+        if (m_ptr == r.m_ptr)
+            return *this;
+        if (m_ptr)
+            ((Object *) m_ptr)->decRef();
+        m_ptr = r.m_ptr;
+        if (m_ptr)
+            ((Object *) m_ptr)->incRef();
+        return *this;
+    }
+
+    /// Overwrite this reference with a pointer to another object
+    ref& operator=(T *ptr) {
+        print_values(this, "assigned pointer"); track_values((ref_tag*) this, "assigned pointer");
+
+        if (m_ptr == ptr)
+            return *this;
+        if (m_ptr)
+            ((Object *) m_ptr)->decRef();
+        m_ptr = ptr;
+        if (m_ptr)
+            ((Object *) m_ptr)->incRef();
+        return *this;
+    }
+
+    /// Compare this reference with another reference
+    bool operator==(const ref &r) const { return m_ptr == r.m_ptr; }
+
+    /// Compare this reference with another reference
+    bool operator!=(const ref &r) const { return m_ptr != r.m_ptr; }
+
+    /// Compare this reference with a pointer
+    bool operator==(const T* ptr) const { return m_ptr == ptr; }
+
+    /// Compare this reference with a pointer
+    bool operator!=(const T* ptr) const { return m_ptr != ptr; }
+
+    /// Access the object referenced by this reference
+    T* operator->() { return m_ptr; }
+
+    /// Access the object referenced by this reference
+    const T* operator->() const { return m_ptr; }
+
+    /// Return a C++ reference to the referenced object
+    T& operator*() { return *m_ptr; }
+
+    /// Return a const C++ reference to the referenced object
+    const T& operator*() const { return *m_ptr; }
+
+    /// Return a pointer to the referenced object
+    operator T* () { return m_ptr; }
+
+    /// Return a const pointer to the referenced object
+    T* get_ptr() { return m_ptr; }
+
+    /// Return a pointer to the referenced object
+    const T* get_ptr() const { return m_ptr; }
+private:
+    T *m_ptr;
+};
+
+#endif /* __OBJECT_H */
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_cross_module_tests.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_cross_module_tests.cpp
new file mode 100644
index 0000000..f705e31
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_cross_module_tests.cpp
@@ -0,0 +1,123 @@
+/*
+    tests/pybind11_cross_module_tests.cpp -- contains tests that require multiple modules
+
+    Copyright (c) 2017 Jason Rhinelander <jason@imaginary.ca>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "local_bindings.h"
+#include <pybind11/stl_bind.h>
+#include <numeric>
+
+PYBIND11_MODULE(pybind11_cross_module_tests, m) {
+    m.doc() = "pybind11 cross-module test module";
+
+    // test_local_bindings.py tests:
+    //
+    // Definitions here are tested by importing both this module and the
+    // relevant pybind11_tests submodule from a test_whatever.py
+
+    // test_load_external
+    bind_local<ExternalType1>(m, "ExternalType1", py::module_local());
+    bind_local<ExternalType2>(m, "ExternalType2", py::module_local());
+
+    // test_exceptions.py
+    m.def("raise_runtime_error", []() { PyErr_SetString(PyExc_RuntimeError, "My runtime error"); throw py::error_already_set(); });
+    m.def("raise_value_error", []() { PyErr_SetString(PyExc_ValueError, "My value error"); throw py::error_already_set(); });
+    m.def("throw_pybind_value_error", []() { throw py::value_error("pybind11 value error"); });
+    m.def("throw_pybind_type_error", []() { throw py::type_error("pybind11 type error"); });
+    m.def("throw_stop_iteration", []() { throw py::stop_iteration(); });
+
+    // test_local_bindings.py
+    // Local to both:
+    bind_local<LocalType, 1>(m, "LocalType", py::module_local())
+        .def("get2", [](LocalType &t) { return t.i + 2; })
+        ;
+
+    // Can only be called with our python type:
+    m.def("local_value", [](LocalType &l) { return l.i; });
+
+    // test_nonlocal_failure
+    // This registration will fail (global registration when LocalFail is already registered
+    // globally in the main test module):
+    m.def("register_nonlocal", [m]() {
+        bind_local<NonLocalType, 0>(m, "NonLocalType");
+    });
+
+    // test_stl_bind_local
+    // stl_bind.h binders defaults to py::module_local if the types are local or converting:
+    py::bind_vector<LocalVec>(m, "LocalVec");
+    py::bind_map<LocalMap>(m, "LocalMap");
+
+    // test_stl_bind_global
+    // and global if the type (or one of the types, for the map) is global (so these will fail,
+    // assuming pybind11_tests is already loaded):
+    m.def("register_nonlocal_vec", [m]() {
+        py::bind_vector<NonLocalVec>(m, "NonLocalVec");
+    });
+    m.def("register_nonlocal_map", [m]() {
+        py::bind_map<NonLocalMap>(m, "NonLocalMap");
+    });
+    // The default can, however, be overridden to global using `py::module_local()` or
+    // `py::module_local(false)`.
+    // Explicitly made local:
+    py::bind_vector<NonLocalVec2>(m, "NonLocalVec2", py::module_local());
+    // Explicitly made global (and so will fail to bind):
+    m.def("register_nonlocal_map2", [m]() {
+        py::bind_map<NonLocalMap2>(m, "NonLocalMap2", py::module_local(false));
+    });
+
+    // test_mixed_local_global
+    // We try this both with the global type registered first and vice versa (the order shouldn't
+    // matter).
+    m.def("register_mixed_global_local", [m]() {
+        bind_local<MixedGlobalLocal, 200>(m, "MixedGlobalLocal", py::module_local());
+    });
+    m.def("register_mixed_local_global", [m]() {
+        bind_local<MixedLocalGlobal, 2000>(m, "MixedLocalGlobal", py::module_local(false));
+    });
+    m.def("get_mixed_gl", [](int i) { return MixedGlobalLocal(i); });
+    m.def("get_mixed_lg", [](int i) { return MixedLocalGlobal(i); });
+
+    // test_internal_locals_differ
+    m.def("local_cpp_types_addr", []() { return (uintptr_t) &py::detail::registered_local_types_cpp(); });
+
+    // test_stl_caster_vs_stl_bind
+    py::bind_vector<std::vector<int>>(m, "VectorInt");
+
+    m.def("load_vector_via_binding", [](std::vector<int> &v) {
+        return std::accumulate(v.begin(), v.end(), 0);
+    });
+
+    // test_cross_module_calls
+    m.def("return_self", [](LocalVec *v) { return v; });
+    m.def("return_copy", [](const LocalVec &v) { return LocalVec(v); });
+
+    class Dog : public pets::Pet { public: Dog(std::string name) : Pet(name) {}; };
+    py::class_<pets::Pet>(m, "Pet", py::module_local())
+        .def("name", &pets::Pet::name);
+    // Binding for local extending class:
+    py::class_<Dog, pets::Pet>(m, "Dog")
+        .def(py::init<std::string>());
+    m.def("pet_name", [](pets::Pet &p) { return p.name(); });
+
+    py::class_<MixGL>(m, "MixGL", py::module_local()).def(py::init<int>());
+    m.def("get_gl_value", [](MixGL &o) { return o.i + 100; });
+
+    py::class_<MixGL2>(m, "MixGL2", py::module_local()).def(py::init<int>());
+
+    // test_vector_bool
+    // We can't test both stl.h and stl_bind.h conversions of `std::vector<bool>` within
+    // the same module (it would be an ODR violation). Therefore `bind_vector` of `bool`
+    // is defined here and tested in `test_stl_binders.py`.
+    py::bind_vector<std::vector<bool>>(m, "VectorBool");
+
+    // test_missing_header_message
+    // The main module already includes stl.h, but we need to test the error message
+    // which appears when this header is missing.
+    m.def("missing_header_arg", [](std::vector<float>) { });
+    m.def("missing_header_return", []() { return std::vector<float>(); });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_tests.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_tests.cpp
new file mode 100644
index 0000000..439cd40
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_tests.cpp
@@ -0,0 +1,91 @@
+/*
+    tests/pybind11_tests.cpp -- pybind example plugin
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+
+#include <functional>
+#include <list>
+
+/*
+For testing purposes, we define a static global variable here in a function that each individual
+test .cpp calls with its initialization lambda.  It's convenient here because we can just not
+compile some test files to disable/ignore some of the test code.
+
+It is NOT recommended as a way to use pybind11 in practice, however: the initialization order will
+be essentially random, which is okay for our test scripts (there are no dependencies between the
+individual pybind11 test .cpp files), but most likely not what you want when using pybind11
+productively.
+
+Instead, see the "How can I reduce the build time?" question in the "Frequently asked questions"
+section of the documentation for good practice on splitting binding code over multiple files.
+*/
+std::list<std::function<void(py::module_ &)>> &initializers() {
+    static std::list<std::function<void(py::module_ &)>> inits;
+    return inits;
+}
+
+test_initializer::test_initializer(Initializer init) {
+    initializers().emplace_back(init);
+}
+
+test_initializer::test_initializer(const char *submodule_name, Initializer init) {
+    initializers().emplace_back([=](py::module_ &parent) {
+        auto m = parent.def_submodule(submodule_name);
+        init(m);
+    });
+}
+
+void bind_ConstructorStats(py::module_ &m) {
+    py::class_<ConstructorStats>(m, "ConstructorStats")
+        .def("alive", &ConstructorStats::alive)
+        .def("values", &ConstructorStats::values)
+        .def_readwrite("default_constructions", &ConstructorStats::default_constructions)
+        .def_readwrite("copy_assignments", &ConstructorStats::copy_assignments)
+        .def_readwrite("move_assignments", &ConstructorStats::move_assignments)
+        .def_readwrite("copy_constructions", &ConstructorStats::copy_constructions)
+        .def_readwrite("move_constructions", &ConstructorStats::move_constructions)
+        .def_static("get", (ConstructorStats &(*)(py::object)) &ConstructorStats::get, py::return_value_policy::reference_internal)
+
+        // Not exactly ConstructorStats, but related: expose the internal pybind number of registered instances
+        // to allow instance cleanup checks (invokes a GC first)
+        .def_static("detail_reg_inst", []() {
+            ConstructorStats::gc();
+            return py::detail::get_internals().registered_instances.size();
+        })
+        ;
+}
+
+PYBIND11_MODULE(pybind11_tests, m) {
+    m.doc() = "pybind11 test module";
+
+    bind_ConstructorStats(m);
+
+#if !defined(NDEBUG)
+    m.attr("debug_enabled") = true;
+#else
+    m.attr("debug_enabled") = false;
+#endif
+
+    py::class_<UserType>(m, "UserType", "A `py::class_` type for testing")
+        .def(py::init<>())
+        .def(py::init<int>())
+        .def("get_value", &UserType::value, "Get value using a method")
+        .def("set_value", &UserType::set, "Set value using a method")
+        .def_property("value", &UserType::value, &UserType::set, "Get/set value using a property")
+        .def("__repr__", [](const UserType& u) { return "UserType({})"_s.format(u.value()); });
+
+    py::class_<IncType, UserType>(m, "IncType")
+        .def(py::init<>())
+        .def(py::init<int>())
+        .def("__repr__", [](const IncType& u) { return "IncType({})"_s.format(u.value()); });
+
+    for (const auto &initializer : initializers())
+        initializer(m);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_tests.h b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_tests.h
new file mode 100644
index 0000000..4ff56c0
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pybind11_tests.h
@@ -0,0 +1,71 @@
+#pragma once
+#include <pybind11/pybind11.h>
+
+#if defined(_MSC_VER) && _MSC_VER < 1910
+// We get some really long type names here which causes MSVC 2015 to emit warnings
+#  pragma warning(disable: 4503) // warning C4503: decorated name length exceeded, name was truncated
+#endif
+
+namespace py = pybind11;
+using namespace pybind11::literals;
+
+class test_initializer {
+    using Initializer = void (*)(py::module_ &);
+
+public:
+    test_initializer(Initializer init);
+    test_initializer(const char *submodule_name, Initializer init);
+};
+
+#define TEST_SUBMODULE(name, variable)                   \
+    void test_submodule_##name(py::module_ &);            \
+    test_initializer name(#name, test_submodule_##name); \
+    void test_submodule_##name(py::module_ &variable)
+
+
+/// Dummy type which is not exported anywhere -- something to trigger a conversion error
+struct UnregisteredType { };
+
+/// A user-defined type which is exported and can be used by any test
+class UserType {
+public:
+    UserType() = default;
+    UserType(int i) : i(i) { }
+
+    int value() const { return i; }
+    void set(int set) { i = set; }
+
+private:
+    int i = -1;
+};
+
+/// Like UserType, but increments `value` on copy for quick reference vs. copy tests
+class IncType : public UserType {
+public:
+    using UserType::UserType;
+    IncType() = default;
+    IncType(const IncType &other) : IncType(other.value() + 1) { }
+    IncType(IncType &&) = delete;
+    IncType &operator=(const IncType &) = delete;
+    IncType &operator=(IncType &&) = delete;
+};
+
+/// A simple union for basic testing
+union IntFloat {
+    int i;
+    float f;
+};
+
+/// Custom cast-only type that casts to a string "rvalue" or "lvalue" depending on the cast context.
+/// Used to test recursive casters (e.g. std::tuple, stl containers).
+struct RValueCaster {};
+PYBIND11_NAMESPACE_BEGIN(pybind11)
+PYBIND11_NAMESPACE_BEGIN(detail)
+template<> class type_caster<RValueCaster> {
+public:
+    PYBIND11_TYPE_CASTER(RValueCaster, _("RValueCaster"));
+    static handle cast(RValueCaster &&, return_value_policy, handle) { return py::str("rvalue").release(); }
+    static handle cast(const RValueCaster &, return_value_policy, handle) { return py::str("lvalue").release(); }
+};
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(pybind11)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pytest.ini b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pytest.ini
new file mode 100644
index 0000000..c47cbe9
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/pytest.ini
@@ -0,0 +1,19 @@
+[pytest]
+minversion = 3.1
+norecursedirs = test_* extra_*
+xfail_strict = True
+addopts =
+    # show summary of skipped tests
+    -rs
+    # capture only Python print and C++ py::print, but not C output (low-level Python errors)
+    --capture=sys
+    # enable all warnings
+    -Wa
+filterwarnings =
+    # make warnings into errors but ignore certain third-party extension issues
+    error
+    # importing scipy submodules on some version of Python
+    ignore::ImportWarning
+    # bogus numpy ABI warning (see numpy/#432)
+    ignore:.*numpy.dtype size changed.*:RuntimeWarning
+    ignore:.*numpy.ufunc size changed.*:RuntimeWarning
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/requirements.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/requirements.txt
new file mode 100644
index 0000000..39bd57a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/requirements.txt
@@ -0,0 +1,8 @@
+--extra-index-url https://antocuni.github.io/pypy-wheels/manylinux2010/
+numpy==1.16.6; python_version<"3.6"
+numpy==1.18.0; platform_python_implementation=="PyPy" and sys_platform=="darwin" and python_version>="3.6"
+numpy==1.19.1; (platform_python_implementation!="PyPy" or sys_platform!="darwin") and python_version>="3.6" and python_version<"3.9"
+pytest==4.6.9; python_version<"3.5"
+pytest==5.4.3; python_version>="3.5"
+scipy==1.2.3; (platform_python_implementation!="PyPy" or sys_platform!="darwin") and python_version<"3.6"
+scipy==1.5.2; (platform_python_implementation!="PyPy" or sys_platform!="darwin") and python_version>="3.6" and python_version<"3.9"
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.cpp
new file mode 100644
index 0000000..e6e01d7
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.cpp
@@ -0,0 +1,26 @@
+/*
+    tests/test_async.cpp -- __await__ support
+
+    Copyright (c) 2019 Google Inc.
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+TEST_SUBMODULE(async_module, m) {
+    struct DoesNotSupportAsync {};
+    py::class_<DoesNotSupportAsync>(m, "DoesNotSupportAsync")
+        .def(py::init<>());
+    struct SupportsAsync {};
+    py::class_<SupportsAsync>(m, "SupportsAsync")
+        .def(py::init<>())
+        .def("__await__", [](const SupportsAsync& self) -> py::object {
+            static_cast<void>(self);
+            py::object loop = py::module_::import("asyncio.events").attr("get_event_loop")();
+            py::object f = loop.attr("create_future")();
+            f.attr("set_result")(5);
+            return f.attr("__await__")();
+        });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.py
new file mode 100644
index 0000000..df4489c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_async.py
@@ -0,0 +1,25 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+asyncio = pytest.importorskip("asyncio")
+m = pytest.importorskip("pybind11_tests.async_module")
+
+
+@pytest.fixture
+def event_loop():
+    loop = asyncio.new_event_loop()
+    yield loop
+    loop.close()
+
+
+async def get_await_result(x):
+    return await x
+
+
+def test_await(event_loop):
+    assert 5 == event_loop.run_until_complete(get_await_result(m.SupportsAsync()))
+
+
+def test_await_missing(event_loop):
+    with pytest.raises(TypeError):
+        event_loop.run_until_complete(get_await_result(m.DoesNotSupportAsync()))
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.cpp
new file mode 100644
index 0000000..4f90700
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.cpp
@@ -0,0 +1,214 @@
+/*
+    tests/test_buffers.cpp -- supporting Pythons' buffer protocol
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/stl.h>
+
+TEST_SUBMODULE(buffers, m) {
+    // test_from_python / test_to_python:
+    class Matrix {
+    public:
+        Matrix(ssize_t rows, ssize_t cols) : m_rows(rows), m_cols(cols) {
+            print_created(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            m_data = new float[(size_t) (rows*cols)];
+            memset(m_data, 0, sizeof(float) * (size_t) (rows * cols));
+        }
+
+        Matrix(const Matrix &s) : m_rows(s.m_rows), m_cols(s.m_cols) {
+            print_copy_created(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            m_data = new float[(size_t) (m_rows * m_cols)];
+            memcpy(m_data, s.m_data, sizeof(float) * (size_t) (m_rows * m_cols));
+        }
+
+        Matrix(Matrix &&s) : m_rows(s.m_rows), m_cols(s.m_cols), m_data(s.m_data) {
+            print_move_created(this);
+            s.m_rows = 0;
+            s.m_cols = 0;
+            s.m_data = nullptr;
+        }
+
+        ~Matrix() {
+            print_destroyed(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            delete[] m_data;
+        }
+
+        Matrix &operator=(const Matrix &s) {
+            print_copy_assigned(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            delete[] m_data;
+            m_rows = s.m_rows;
+            m_cols = s.m_cols;
+            m_data = new float[(size_t) (m_rows * m_cols)];
+            memcpy(m_data, s.m_data, sizeof(float) * (size_t) (m_rows * m_cols));
+            return *this;
+        }
+
+        Matrix &operator=(Matrix &&s) {
+            print_move_assigned(this, std::to_string(m_rows) + "x" + std::to_string(m_cols) + " matrix");
+            if (&s != this) {
+                delete[] m_data;
+                m_rows = s.m_rows; m_cols = s.m_cols; m_data = s.m_data;
+                s.m_rows = 0; s.m_cols = 0; s.m_data = nullptr;
+            }
+            return *this;
+        }
+
+        float operator()(ssize_t i, ssize_t j) const {
+            return m_data[(size_t) (i*m_cols + j)];
+        }
+
+        float &operator()(ssize_t i, ssize_t j) {
+            return m_data[(size_t) (i*m_cols + j)];
+        }
+
+        float *data() { return m_data; }
+
+        ssize_t rows() const { return m_rows; }
+        ssize_t cols() const { return m_cols; }
+    private:
+        ssize_t m_rows;
+        ssize_t m_cols;
+        float *m_data;
+    };
+    py::class_<Matrix>(m, "Matrix", py::buffer_protocol())
+        .def(py::init<ssize_t, ssize_t>())
+        /// Construct from a buffer
+        .def(py::init([](py::buffer const b) {
+            py::buffer_info info = b.request();
+            if (info.format != py::format_descriptor<float>::format() || info.ndim != 2)
+                throw std::runtime_error("Incompatible buffer format!");
+
+            auto v = new Matrix(info.shape[0], info.shape[1]);
+            memcpy(v->data(), info.ptr, sizeof(float) * (size_t) (v->rows() * v->cols()));
+            return v;
+        }))
+
+       .def("rows", &Matrix::rows)
+       .def("cols", &Matrix::cols)
+
+        /// Bare bones interface
+       .def("__getitem__", [](const Matrix &m, std::pair<ssize_t, ssize_t> i) {
+            if (i.first >= m.rows() || i.second >= m.cols())
+                throw py::index_error();
+            return m(i.first, i.second);
+        })
+       .def("__setitem__", [](Matrix &m, std::pair<ssize_t, ssize_t> i, float v) {
+            if (i.first >= m.rows() || i.second >= m.cols())
+                throw py::index_error();
+            m(i.first, i.second) = v;
+        })
+       /// Provide buffer access
+       .def_buffer([](Matrix &m) -> py::buffer_info {
+            return py::buffer_info(
+                m.data(),                               /* Pointer to buffer */
+                { m.rows(), m.cols() },                 /* Buffer dimensions */
+                { sizeof(float) * size_t(m.cols()),     /* Strides (in bytes) for each index */
+                  sizeof(float) }
+            );
+        })
+        ;
+
+
+    // test_inherited_protocol
+    class SquareMatrix : public Matrix {
+    public:
+        SquareMatrix(ssize_t n) : Matrix(n, n) { }
+    };
+    // Derived classes inherit the buffer protocol and the buffer access function
+    py::class_<SquareMatrix, Matrix>(m, "SquareMatrix")
+        .def(py::init<ssize_t>());
+
+
+    // test_pointer_to_member_fn
+    // Tests that passing a pointer to member to the base class works in
+    // the derived class.
+    struct Buffer {
+        int32_t value = 0;
+
+        py::buffer_info get_buffer_info() {
+            return py::buffer_info(&value, sizeof(value),
+                                   py::format_descriptor<int32_t>::format(), 1);
+        }
+    };
+    py::class_<Buffer>(m, "Buffer", py::buffer_protocol())
+        .def(py::init<>())
+        .def_readwrite("value", &Buffer::value)
+        .def_buffer(&Buffer::get_buffer_info);
+
+
+    class ConstBuffer {
+        std::unique_ptr<int32_t> value;
+
+    public:
+        int32_t get_value() const { return *value; }
+        void set_value(int32_t v) { *value = v; }
+
+        py::buffer_info get_buffer_info() const {
+            return py::buffer_info(value.get(), sizeof(*value),
+                                   py::format_descriptor<int32_t>::format(), 1);
+        }
+
+        ConstBuffer() : value(new int32_t{0}) { };
+    };
+    py::class_<ConstBuffer>(m, "ConstBuffer", py::buffer_protocol())
+        .def(py::init<>())
+        .def_property("value", &ConstBuffer::get_value, &ConstBuffer::set_value)
+        .def_buffer(&ConstBuffer::get_buffer_info);
+
+    struct DerivedBuffer : public Buffer { };
+    py::class_<DerivedBuffer>(m, "DerivedBuffer", py::buffer_protocol())
+        .def(py::init<>())
+        .def_readwrite("value", (int32_t DerivedBuffer::*) &DerivedBuffer::value)
+        .def_buffer(&DerivedBuffer::get_buffer_info);
+
+    struct BufferReadOnly {
+        const uint8_t value = 0;
+        BufferReadOnly(uint8_t value): value(value) {}
+
+        py::buffer_info get_buffer_info() {
+            return py::buffer_info(&value, 1);
+        }
+    };
+    py::class_<BufferReadOnly>(m, "BufferReadOnly", py::buffer_protocol())
+        .def(py::init<uint8_t>())
+        .def_buffer(&BufferReadOnly::get_buffer_info);
+
+    struct BufferReadOnlySelect {
+        uint8_t value = 0;
+        bool readonly = false;
+
+        py::buffer_info get_buffer_info() {
+            return py::buffer_info(&value, 1, readonly);
+        }
+    };
+    py::class_<BufferReadOnlySelect>(m, "BufferReadOnlySelect", py::buffer_protocol())
+        .def(py::init<>())
+        .def_readwrite("value", &BufferReadOnlySelect::value)
+        .def_readwrite("readonly", &BufferReadOnlySelect::readonly)
+        .def_buffer(&BufferReadOnlySelect::get_buffer_info);
+
+    // Expose buffer_info for testing.
+    py::class_<py::buffer_info>(m, "buffer_info")
+        .def(py::init<>())
+        .def_readonly("itemsize", &py::buffer_info::itemsize)
+        .def_readonly("size", &py::buffer_info::size)
+        .def_readonly("format", &py::buffer_info::format)
+        .def_readonly("ndim", &py::buffer_info::ndim)
+        .def_readonly("shape", &py::buffer_info::shape)
+        .def_readonly("strides", &py::buffer_info::strides)
+        .def_readonly("readonly", &py::buffer_info::readonly)
+        .def("__repr__", [](py::handle self) {
+             return py::str("itemsize={0.itemsize!r}, size={0.size!r}, format={0.format!r}, ndim={0.ndim!r}, shape={0.shape!r}, strides={0.strides!r}, readonly={0.readonly!r}").format(self);
+        })
+        ;
+
+    m.def("get_buffer_info", [](py::buffer buffer) {
+        return buffer.request();
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.py
new file mode 100644
index 0000000..d6ca077
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_buffers.py
@@ -0,0 +1,162 @@
+# -*- coding: utf-8 -*-
+import io
+import struct
+import ctypes
+
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import buffers as m
+from pybind11_tests import ConstructorStats
+
+np = pytest.importorskip("numpy")
+
+
+def test_from_python():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.Matrix(np.array([1, 2, 3]))  # trying to assign a 1D array
+    assert str(excinfo.value) == "Incompatible buffer format!"
+
+    m3 = np.array([[1, 2, 3], [4, 5, 6]]).astype(np.float32)
+    m4 = m.Matrix(m3)
+
+    for i in range(m4.rows()):
+        for j in range(m4.cols()):
+            assert m3[i, j] == m4[i, j]
+
+    cstats = ConstructorStats.get(m.Matrix)
+    assert cstats.alive() == 1
+    del m3, m4
+    assert cstats.alive() == 0
+    assert cstats.values() == ["2x3 matrix"]
+    assert cstats.copy_constructions == 0
+    # assert cstats.move_constructions >= 0  # Don't invoke any
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+
+# https://foss.heptapod.net/pypy/pypy/-/issues/2444
+def test_to_python():
+    mat = m.Matrix(5, 4)
+    assert memoryview(mat).shape == (5, 4)
+
+    assert mat[2, 3] == 0
+    mat[2, 3] = 4.0
+    mat[3, 2] = 7.0
+    assert mat[2, 3] == 4
+    assert mat[3, 2] == 7
+    assert struct.unpack_from('f', mat, (3 * 4 + 2) * 4) == (7, )
+    assert struct.unpack_from('f', mat, (2 * 4 + 3) * 4) == (4, )
+
+    mat2 = np.array(mat, copy=False)
+    assert mat2.shape == (5, 4)
+    assert abs(mat2).sum() == 11
+    assert mat2[2, 3] == 4 and mat2[3, 2] == 7
+    mat2[2, 3] = 5
+    assert mat2[2, 3] == 5
+
+    cstats = ConstructorStats.get(m.Matrix)
+    assert cstats.alive() == 1
+    del mat
+    pytest.gc_collect()
+    assert cstats.alive() == 1
+    del mat2  # holds a mat reference
+    pytest.gc_collect()
+    assert cstats.alive() == 0
+    assert cstats.values() == ["5x4 matrix"]
+    assert cstats.copy_constructions == 0
+    # assert cstats.move_constructions >= 0  # Don't invoke any
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+
+def test_inherited_protocol():
+    """SquareMatrix is derived from Matrix and inherits the buffer protocol"""
+
+    matrix = m.SquareMatrix(5)
+    assert memoryview(matrix).shape == (5, 5)
+    assert np.asarray(matrix).shape == (5, 5)
+
+
+def test_pointer_to_member_fn():
+    for cls in [m.Buffer, m.ConstBuffer, m.DerivedBuffer]:
+        buf = cls()
+        buf.value = 0x12345678
+        value = struct.unpack('i', bytearray(buf))[0]
+        assert value == 0x12345678
+
+
+def test_readonly_buffer():
+    buf = m.BufferReadOnly(0x64)
+    view = memoryview(buf)
+    assert view[0] == b'd' if env.PY2 else 0x64
+    assert view.readonly
+
+
+def test_selective_readonly_buffer():
+    buf = m.BufferReadOnlySelect()
+
+    memoryview(buf)[0] = b'd' if env.PY2 else 0x64
+    assert buf.value == 0x64
+
+    io.BytesIO(b'A').readinto(buf)
+    assert buf.value == ord(b'A')
+
+    buf.readonly = True
+    with pytest.raises(TypeError):
+        memoryview(buf)[0] = b'\0' if env.PY2 else 0
+    with pytest.raises(TypeError):
+        io.BytesIO(b'1').readinto(buf)
+
+
+def test_ctypes_array_1d():
+    char1d = (ctypes.c_char * 10)()
+    int1d = (ctypes.c_int * 15)()
+    long1d = (ctypes.c_long * 7)()
+
+    for carray in (char1d, int1d, long1d):
+        info = m.get_buffer_info(carray)
+        assert info.itemsize == ctypes.sizeof(carray._type_)
+        assert info.size == len(carray)
+        assert info.ndim == 1
+        assert info.shape == [info.size]
+        assert info.strides == [info.itemsize]
+        assert not info.readonly
+
+
+def test_ctypes_array_2d():
+    char2d = ((ctypes.c_char * 10) * 4)()
+    int2d = ((ctypes.c_int * 15) * 3)()
+    long2d = ((ctypes.c_long * 7) * 2)()
+
+    for carray in (char2d, int2d, long2d):
+        info = m.get_buffer_info(carray)
+        assert info.itemsize == ctypes.sizeof(carray[0]._type_)
+        assert info.size == len(carray) * len(carray[0])
+        assert info.ndim == 2
+        assert info.shape == [len(carray), len(carray[0])]
+        assert info.strides == [info.itemsize * len(carray[0]), info.itemsize]
+        assert not info.readonly
+
+
+@pytest.mark.skipif(
+    "env.PYPY and env.PY2", reason="PyPy2 bytes buffer not reported as readonly"
+)
+def test_ctypes_from_buffer():
+    test_pystr = b"0123456789"
+    for pyarray in (test_pystr, bytearray(test_pystr)):
+        pyinfo = m.get_buffer_info(pyarray)
+
+        if pyinfo.readonly:
+            cbytes = (ctypes.c_char * len(pyarray)).from_buffer_copy(pyarray)
+            cinfo = m.get_buffer_info(cbytes)
+        else:
+            cbytes = (ctypes.c_char * len(pyarray)).from_buffer(pyarray)
+            cinfo = m.get_buffer_info(cbytes)
+
+        assert cinfo.size == pyinfo.size
+        assert cinfo.ndim == pyinfo.ndim
+        assert cinfo.shape == pyinfo.shape
+        assert cinfo.strides == pyinfo.strides
+        assert not cinfo.readonly
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.cpp
new file mode 100644
index 0000000..acc9f8f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.cpp
@@ -0,0 +1,192 @@
+/*
+    tests/test_builtin_casters.cpp -- Casters available without any additional headers
+
+    Copyright (c) 2017 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include <pybind11/complex.h>
+
+#if defined(_MSC_VER)
+#  pragma warning(push)
+#  pragma warning(disable: 4127) // warning C4127: Conditional expression is constant
+#endif
+
+TEST_SUBMODULE(builtin_casters, m) {
+    // test_simple_string
+    m.def("string_roundtrip", [](const char *s) { return s; });
+
+    // test_unicode_conversion
+    // Some test characters in utf16 and utf32 encodings.  The last one (the 𝐀) contains a null byte
+    char32_t a32 = 0x61 /*a*/, z32 = 0x7a /*z*/, ib32 = 0x203d /*‽*/, cake32 = 0x1f382 /*🎂*/,              mathbfA32 = 0x1d400 /*𝐀*/;
+    char16_t b16 = 0x62 /*b*/, z16 = 0x7a,       ib16 = 0x203d,       cake16_1 = 0xd83c, cake16_2 = 0xdf82, mathbfA16_1 = 0xd835, mathbfA16_2 = 0xdc00;
+    std::wstring wstr;
+    wstr.push_back(0x61); // a
+    wstr.push_back(0x2e18); // ⸘
+    if (sizeof(wchar_t) == 2) { wstr.push_back(mathbfA16_1); wstr.push_back(mathbfA16_2); } // 𝐀, utf16
+    else { wstr.push_back((wchar_t) mathbfA32); } // 𝐀, utf32
+    wstr.push_back(0x7a); // z
+
+    m.def("good_utf8_string", []() { return std::string((const char*)u8"Say utf8\u203d \U0001f382 \U0001d400"); }); // Say utf8‽ 🎂 𝐀
+    m.def("good_utf16_string", [=]() { return std::u16string({ b16, ib16, cake16_1, cake16_2, mathbfA16_1, mathbfA16_2, z16 }); }); // b‽🎂𝐀z
+    m.def("good_utf32_string", [=]() { return std::u32string({ a32, mathbfA32, cake32, ib32, z32 }); }); // a𝐀🎂‽z
+    m.def("good_wchar_string", [=]() { return wstr; }); // a‽𝐀z
+    m.def("bad_utf8_string", []()  { return std::string("abc\xd0" "def"); });
+    m.def("bad_utf16_string", [=]() { return std::u16string({ b16, char16_t(0xd800), z16 }); });
+    // Under Python 2.7, invalid unicode UTF-32 characters don't appear to trigger UnicodeDecodeError
+    if (PY_MAJOR_VERSION >= 3)
+        m.def("bad_utf32_string", [=]() { return std::u32string({ a32, char32_t(0xd800), z32 }); });
+    if (PY_MAJOR_VERSION >= 3 || sizeof(wchar_t) == 2)
+        m.def("bad_wchar_string", [=]() { return std::wstring({ wchar_t(0x61), wchar_t(0xd800) }); });
+    m.def("u8_Z", []() -> char { return 'Z'; });
+    m.def("u8_eacute", []() -> char { return '\xe9'; });
+    m.def("u16_ibang", [=]() -> char16_t { return ib16; });
+    m.def("u32_mathbfA", [=]() -> char32_t { return mathbfA32; });
+    m.def("wchar_heart", []() -> wchar_t { return 0x2665; });
+
+    // test_single_char_arguments
+    m.attr("wchar_size") = py::cast(sizeof(wchar_t));
+    m.def("ord_char", [](char c) -> int { return static_cast<unsigned char>(c); });
+    m.def("ord_char_lv", [](char &c) -> int { return static_cast<unsigned char>(c); });
+    m.def("ord_char16", [](char16_t c) -> uint16_t { return c; });
+    m.def("ord_char16_lv", [](char16_t &c) -> uint16_t { return c; });
+    m.def("ord_char32", [](char32_t c) -> uint32_t { return c; });
+    m.def("ord_wchar", [](wchar_t c) -> int { return c; });
+
+    // test_bytes_to_string
+    m.def("strlen", [](char *s) { return strlen(s); });
+    m.def("string_length", [](std::string s) { return s.length(); });
+
+#ifdef PYBIND11_HAS_U8STRING
+    m.attr("has_u8string") = true;
+    m.def("good_utf8_u8string", []() { return std::u8string(u8"Say utf8\u203d \U0001f382 \U0001d400"); }); // Say utf8‽ 🎂 𝐀
+    m.def("bad_utf8_u8string", []()  { return std::u8string((const char8_t*)"abc\xd0" "def"); });
+
+    m.def("u8_char8_Z", []() -> char8_t { return u8'Z'; });
+
+    // test_single_char_arguments
+    m.def("ord_char8", [](char8_t c) -> int { return static_cast<unsigned char>(c); });
+    m.def("ord_char8_lv", [](char8_t &c) -> int { return static_cast<unsigned char>(c); });
+#endif
+
+    // test_string_view
+#ifdef PYBIND11_HAS_STRING_VIEW
+    m.attr("has_string_view") = true;
+    m.def("string_view_print",   [](std::string_view s)    { py::print(s, s.size()); });
+    m.def("string_view16_print", [](std::u16string_view s) { py::print(s, s.size()); });
+    m.def("string_view32_print", [](std::u32string_view s) { py::print(s, s.size()); });
+    m.def("string_view_chars",   [](std::string_view s)    { py::list l; for (auto c : s) l.append((std::uint8_t) c); return l; });
+    m.def("string_view16_chars", [](std::u16string_view s) { py::list l; for (auto c : s) l.append((int) c); return l; });
+    m.def("string_view32_chars", [](std::u32string_view s) { py::list l; for (auto c : s) l.append((int) c); return l; });
+    m.def("string_view_return",   []() { return std::string_view((const char*)u8"utf8 secret \U0001f382"); });
+    m.def("string_view16_return", []() { return std::u16string_view(u"utf16 secret \U0001f382"); });
+    m.def("string_view32_return", []() { return std::u32string_view(U"utf32 secret \U0001f382"); });
+
+#   ifdef PYBIND11_HAS_U8STRING
+    m.def("string_view8_print",  [](std::u8string_view s) { py::print(s, s.size()); });
+    m.def("string_view8_chars",  [](std::u8string_view s) { py::list l; for (auto c : s) l.append((std::uint8_t) c); return l; });
+    m.def("string_view8_return", []() { return std::u8string_view(u8"utf8 secret \U0001f382"); });
+#   endif
+#endif
+
+    // test_integer_casting
+    m.def("i32_str", [](std::int32_t v) { return std::to_string(v); });
+    m.def("u32_str", [](std::uint32_t v) { return std::to_string(v); });
+    m.def("i64_str", [](std::int64_t v) { return std::to_string(v); });
+    m.def("u64_str", [](std::uint64_t v) { return std::to_string(v); });
+
+    // test_tuple
+    m.def("pair_passthrough", [](std::pair<bool, std::string> input) {
+        return std::make_pair(input.second, input.first);
+    }, "Return a pair in reversed order");
+    m.def("tuple_passthrough", [](std::tuple<bool, std::string, int> input) {
+        return std::make_tuple(std::get<2>(input), std::get<1>(input), std::get<0>(input));
+    }, "Return a triple in reversed order");
+    m.def("empty_tuple", []() { return std::tuple<>(); });
+    static std::pair<RValueCaster, RValueCaster> lvpair;
+    static std::tuple<RValueCaster, RValueCaster, RValueCaster> lvtuple;
+    static std::pair<RValueCaster, std::tuple<RValueCaster, std::pair<RValueCaster, RValueCaster>>> lvnested;
+    m.def("rvalue_pair", []() { return std::make_pair(RValueCaster{}, RValueCaster{}); });
+    m.def("lvalue_pair", []() -> const decltype(lvpair) & { return lvpair; });
+    m.def("rvalue_tuple", []() { return std::make_tuple(RValueCaster{}, RValueCaster{}, RValueCaster{}); });
+    m.def("lvalue_tuple", []() -> const decltype(lvtuple) & { return lvtuple; });
+    m.def("rvalue_nested", []() {
+        return std::make_pair(RValueCaster{}, std::make_tuple(RValueCaster{}, std::make_pair(RValueCaster{}, RValueCaster{}))); });
+    m.def("lvalue_nested", []() -> const decltype(lvnested) & { return lvnested; });
+
+    static std::pair<int, std::string> int_string_pair{2, "items"};
+    m.def("int_string_pair", []() { return &int_string_pair; });
+
+    // test_builtins_cast_return_none
+    m.def("return_none_string", []() -> std::string * { return nullptr; });
+    m.def("return_none_char",   []() -> const char *  { return nullptr; });
+    m.def("return_none_bool",   []() -> bool *        { return nullptr; });
+    m.def("return_none_int",    []() -> int *         { return nullptr; });
+    m.def("return_none_float",  []() -> float *       { return nullptr; });
+    m.def("return_none_pair",   []() -> std::pair<int,int> * { return nullptr; });
+
+    // test_none_deferred
+    m.def("defer_none_cstring", [](char *) { return false; });
+    m.def("defer_none_cstring", [](py::none) { return true; });
+    m.def("defer_none_custom", [](UserType *) { return false; });
+    m.def("defer_none_custom", [](py::none) { return true; });
+    m.def("nodefer_none_void", [](void *) { return true; });
+    m.def("nodefer_none_void", [](py::none) { return false; });
+
+    // test_void_caster
+    m.def("load_nullptr_t", [](std::nullptr_t) {}); // not useful, but it should still compile
+    m.def("cast_nullptr_t", []() { return std::nullptr_t{}; });
+
+    // test_bool_caster
+    m.def("bool_passthrough", [](bool arg) { return arg; });
+    m.def("bool_passthrough_noconvert", [](bool arg) { return arg; }, py::arg().noconvert());
+
+    // test_reference_wrapper
+    m.def("refwrap_builtin", [](std::reference_wrapper<int> p) { return 10 * p.get(); });
+    m.def("refwrap_usertype", [](std::reference_wrapper<UserType> p) { return p.get().value(); });
+    // Not currently supported (std::pair caster has return-by-value cast operator);
+    // triggers static_assert failure.
+    //m.def("refwrap_pair", [](std::reference_wrapper<std::pair<int, int>>) { });
+
+    m.def("refwrap_list", [](bool copy) {
+        static IncType x1(1), x2(2);
+        py::list l;
+        for (auto &f : {std::ref(x1), std::ref(x2)}) {
+            l.append(py::cast(f, copy ? py::return_value_policy::copy
+                                      : py::return_value_policy::reference));
+        }
+        return l;
+    }, "copy"_a);
+
+    m.def("refwrap_iiw", [](const IncType &w) { return w.value(); });
+    m.def("refwrap_call_iiw", [](IncType &w, py::function f) {
+        py::list l;
+        l.append(f(std::ref(w)));
+        l.append(f(std::cref(w)));
+        IncType x(w.value());
+        l.append(f(std::ref(x)));
+        IncType y(w.value());
+        auto r3 = std::ref(y);
+        l.append(f(r3));
+        return l;
+    });
+
+    // test_complex
+    m.def("complex_cast", [](float x) { return "{}"_s.format(x); });
+    m.def("complex_cast", [](std::complex<float> x) { return "({}, {})"_s.format(x.real(), x.imag()); });
+
+    // test int vs. long (Python 2)
+    m.def("int_cast", []() {return (int) 42;});
+    m.def("long_cast", []() {return (long) 42;});
+    m.def("longlong_cast", []() {return  ULLONG_MAX;});
+
+    /// test void* cast operator
+    m.def("test_void_caster", []() -> bool {
+        void *v = (void *) 0xabcd;
+        py::object o = py::cast(v);
+        return py::cast<void *>(o) == v;
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.py
new file mode 100644
index 0000000..08d38bc
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_builtin_casters.py
@@ -0,0 +1,392 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import builtin_casters as m
+from pybind11_tests import UserType, IncType
+
+
+def test_simple_string():
+    assert m.string_roundtrip("const char *") == "const char *"
+
+
+def test_unicode_conversion():
+    """Tests unicode conversion and error reporting."""
+    assert m.good_utf8_string() == u"Say utf8‽ 🎂 𝐀"
+    assert m.good_utf16_string() == u"b‽🎂𝐀z"
+    assert m.good_utf32_string() == u"a𝐀🎂‽z"
+    assert m.good_wchar_string() == u"a⸘𝐀z"
+    if hasattr(m, "has_u8string"):
+        assert m.good_utf8_u8string() == u"Say utf8‽ 🎂 𝐀"
+
+    with pytest.raises(UnicodeDecodeError):
+        m.bad_utf8_string()
+
+    with pytest.raises(UnicodeDecodeError):
+        m.bad_utf16_string()
+
+    # These are provided only if they actually fail (they don't when 32-bit and under Python 2.7)
+    if hasattr(m, "bad_utf32_string"):
+        with pytest.raises(UnicodeDecodeError):
+            m.bad_utf32_string()
+    if hasattr(m, "bad_wchar_string"):
+        with pytest.raises(UnicodeDecodeError):
+            m.bad_wchar_string()
+    if hasattr(m, "has_u8string"):
+        with pytest.raises(UnicodeDecodeError):
+            m.bad_utf8_u8string()
+
+    assert m.u8_Z() == 'Z'
+    assert m.u8_eacute() == u'é'
+    assert m.u16_ibang() == u'‽'
+    assert m.u32_mathbfA() == u'𝐀'
+    assert m.wchar_heart() == u'♥'
+    if hasattr(m, "has_u8string"):
+        assert m.u8_char8_Z() == 'Z'
+
+
+def test_single_char_arguments():
+    """Tests failures for passing invalid inputs to char-accepting functions"""
+    def toobig_message(r):
+        return "Character code point not in range({0:#x})".format(r)
+    toolong_message = "Expected a character, but multi-character string found"
+
+    assert m.ord_char(u'a') == 0x61  # simple ASCII
+    assert m.ord_char_lv(u'b') == 0x62
+    assert m.ord_char(u'é') == 0xE9  # requires 2 bytes in utf-8, but can be stuffed in a char
+    with pytest.raises(ValueError) as excinfo:
+        assert m.ord_char(u'Ā') == 0x100  # requires 2 bytes, doesn't fit in a char
+    assert str(excinfo.value) == toobig_message(0x100)
+    with pytest.raises(ValueError) as excinfo:
+        assert m.ord_char(u'ab')
+    assert str(excinfo.value) == toolong_message
+
+    assert m.ord_char16(u'a') == 0x61
+    assert m.ord_char16(u'é') == 0xE9
+    assert m.ord_char16_lv(u'ê') == 0xEA
+    assert m.ord_char16(u'Ā') == 0x100
+    assert m.ord_char16(u'‽') == 0x203d
+    assert m.ord_char16(u'♥') == 0x2665
+    assert m.ord_char16_lv(u'♡') == 0x2661
+    with pytest.raises(ValueError) as excinfo:
+        assert m.ord_char16(u'🎂') == 0x1F382  # requires surrogate pair
+    assert str(excinfo.value) == toobig_message(0x10000)
+    with pytest.raises(ValueError) as excinfo:
+        assert m.ord_char16(u'aa')
+    assert str(excinfo.value) == toolong_message
+
+    assert m.ord_char32(u'a') == 0x61
+    assert m.ord_char32(u'é') == 0xE9
+    assert m.ord_char32(u'Ā') == 0x100
+    assert m.ord_char32(u'‽') == 0x203d
+    assert m.ord_char32(u'♥') == 0x2665
+    assert m.ord_char32(u'🎂') == 0x1F382
+    with pytest.raises(ValueError) as excinfo:
+        assert m.ord_char32(u'aa')
+    assert str(excinfo.value) == toolong_message
+
+    assert m.ord_wchar(u'a') == 0x61
+    assert m.ord_wchar(u'é') == 0xE9
+    assert m.ord_wchar(u'Ā') == 0x100
+    assert m.ord_wchar(u'‽') == 0x203d
+    assert m.ord_wchar(u'♥') == 0x2665
+    if m.wchar_size == 2:
+        with pytest.raises(ValueError) as excinfo:
+            assert m.ord_wchar(u'🎂') == 0x1F382  # requires surrogate pair
+        assert str(excinfo.value) == toobig_message(0x10000)
+    else:
+        assert m.ord_wchar(u'🎂') == 0x1F382
+    with pytest.raises(ValueError) as excinfo:
+        assert m.ord_wchar(u'aa')
+    assert str(excinfo.value) == toolong_message
+
+    if hasattr(m, "has_u8string"):
+        assert m.ord_char8(u'a') == 0x61  # simple ASCII
+        assert m.ord_char8_lv(u'b') == 0x62
+        assert m.ord_char8(u'é') == 0xE9  # requires 2 bytes in utf-8, but can be stuffed in a char
+        with pytest.raises(ValueError) as excinfo:
+            assert m.ord_char8(u'Ā') == 0x100  # requires 2 bytes, doesn't fit in a char
+        assert str(excinfo.value) == toobig_message(0x100)
+        with pytest.raises(ValueError) as excinfo:
+            assert m.ord_char8(u'ab')
+        assert str(excinfo.value) == toolong_message
+
+
+def test_bytes_to_string():
+    """Tests the ability to pass bytes to C++ string-accepting functions.  Note that this is
+    one-way: the only way to return bytes to Python is via the pybind11::bytes class."""
+    # Issue #816
+
+    def to_bytes(s):
+        b = s if env.PY2 else s.encode("utf8")
+        assert isinstance(b, bytes)
+        return b
+
+    assert m.strlen(to_bytes("hi")) == 2
+    assert m.string_length(to_bytes("world")) == 5
+    assert m.string_length(to_bytes("a\x00b")) == 3
+    assert m.strlen(to_bytes("a\x00b")) == 1  # C-string limitation
+
+    # passing in a utf8 encoded string should work
+    assert m.string_length(u'💩'.encode("utf8")) == 4
+
+
+@pytest.mark.skipif(not hasattr(m, "has_string_view"), reason="no <string_view>")
+def test_string_view(capture):
+    """Tests support for C++17 string_view arguments and return values"""
+    assert m.string_view_chars("Hi") == [72, 105]
+    assert m.string_view_chars("Hi 🎂") == [72, 105, 32, 0xf0, 0x9f, 0x8e, 0x82]
+    assert m.string_view16_chars(u"Hi 🎂") == [72, 105, 32, 0xd83c, 0xdf82]
+    assert m.string_view32_chars(u"Hi 🎂") == [72, 105, 32, 127874]
+    if hasattr(m, "has_u8string"):
+        assert m.string_view8_chars("Hi") == [72, 105]
+        assert m.string_view8_chars(u"Hi 🎂") == [72, 105, 32, 0xf0, 0x9f, 0x8e, 0x82]
+
+    assert m.string_view_return() == u"utf8 secret 🎂"
+    assert m.string_view16_return() == u"utf16 secret 🎂"
+    assert m.string_view32_return() == u"utf32 secret 🎂"
+    if hasattr(m, "has_u8string"):
+        assert m.string_view8_return() == u"utf8 secret 🎂"
+
+    with capture:
+        m.string_view_print("Hi")
+        m.string_view_print("utf8 🎂")
+        m.string_view16_print(u"utf16 🎂")
+        m.string_view32_print(u"utf32 🎂")
+    assert capture == u"""
+        Hi 2
+        utf8 🎂 9
+        utf16 🎂 8
+        utf32 🎂 7
+    """
+    if hasattr(m, "has_u8string"):
+        with capture:
+            m.string_view8_print("Hi")
+            m.string_view8_print(u"utf8 🎂")
+        assert capture == u"""
+            Hi 2
+            utf8 🎂 9
+        """
+
+    with capture:
+        m.string_view_print("Hi, ascii")
+        m.string_view_print("Hi, utf8 🎂")
+        m.string_view16_print(u"Hi, utf16 🎂")
+        m.string_view32_print(u"Hi, utf32 🎂")
+    assert capture == u"""
+        Hi, ascii 9
+        Hi, utf8 🎂 13
+        Hi, utf16 🎂 12
+        Hi, utf32 🎂 11
+    """
+    if hasattr(m, "has_u8string"):
+        with capture:
+            m.string_view8_print("Hi, ascii")
+            m.string_view8_print(u"Hi, utf8 🎂")
+        assert capture == u"""
+            Hi, ascii 9
+            Hi, utf8 🎂 13
+        """
+
+
+def test_integer_casting():
+    """Issue #929 - out-of-range integer values shouldn't be accepted"""
+    assert m.i32_str(-1) == "-1"
+    assert m.i64_str(-1) == "-1"
+    assert m.i32_str(2000000000) == "2000000000"
+    assert m.u32_str(2000000000) == "2000000000"
+    if env.PY2:
+        assert m.i32_str(long(-1)) == "-1"  # noqa: F821 undefined name 'long'
+        assert m.i64_str(long(-1)) == "-1"  # noqa: F821 undefined name 'long'
+        assert m.i64_str(long(-999999999999)) == "-999999999999"  # noqa: F821 undefined name
+        assert m.u64_str(long(999999999999)) == "999999999999"  # noqa: F821 undefined name 'long'
+    else:
+        assert m.i64_str(-999999999999) == "-999999999999"
+        assert m.u64_str(999999999999) == "999999999999"
+
+    with pytest.raises(TypeError) as excinfo:
+        m.u32_str(-1)
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.u64_str(-1)
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.i32_str(-3000000000)
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.i32_str(3000000000)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    if env.PY2:
+        with pytest.raises(TypeError) as excinfo:
+            m.u32_str(long(-1))  # noqa: F821 undefined name 'long'
+        assert "incompatible function arguments" in str(excinfo.value)
+        with pytest.raises(TypeError) as excinfo:
+            m.u64_str(long(-1))  # noqa: F821 undefined name 'long'
+        assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_tuple(doc):
+    """std::pair <-> tuple & std::tuple <-> tuple"""
+    assert m.pair_passthrough((True, "test")) == ("test", True)
+    assert m.tuple_passthrough((True, "test", 5)) == (5, "test", True)
+    # Any sequence can be cast to a std::pair or std::tuple
+    assert m.pair_passthrough([True, "test"]) == ("test", True)
+    assert m.tuple_passthrough([True, "test", 5]) == (5, "test", True)
+    assert m.empty_tuple() == ()
+
+    assert doc(m.pair_passthrough) == """
+        pair_passthrough(arg0: Tuple[bool, str]) -> Tuple[str, bool]
+
+        Return a pair in reversed order
+    """
+    assert doc(m.tuple_passthrough) == """
+        tuple_passthrough(arg0: Tuple[bool, str, int]) -> Tuple[int, str, bool]
+
+        Return a triple in reversed order
+    """
+
+    assert m.rvalue_pair() == ("rvalue", "rvalue")
+    assert m.lvalue_pair() == ("lvalue", "lvalue")
+    assert m.rvalue_tuple() == ("rvalue", "rvalue", "rvalue")
+    assert m.lvalue_tuple() == ("lvalue", "lvalue", "lvalue")
+    assert m.rvalue_nested() == ("rvalue", ("rvalue", ("rvalue", "rvalue")))
+    assert m.lvalue_nested() == ("lvalue", ("lvalue", ("lvalue", "lvalue")))
+
+    assert m.int_string_pair() == (2, "items")
+
+
+def test_builtins_cast_return_none():
+    """Casters produced with PYBIND11_TYPE_CASTER() should convert nullptr to None"""
+    assert m.return_none_string() is None
+    assert m.return_none_char() is None
+    assert m.return_none_bool() is None
+    assert m.return_none_int() is None
+    assert m.return_none_float() is None
+    assert m.return_none_pair() is None
+
+
+def test_none_deferred():
+    """None passed as various argument types should defer to other overloads"""
+    assert not m.defer_none_cstring("abc")
+    assert m.defer_none_cstring(None)
+    assert not m.defer_none_custom(UserType())
+    assert m.defer_none_custom(None)
+    assert m.nodefer_none_void(None)
+
+
+def test_void_caster():
+    assert m.load_nullptr_t(None) is None
+    assert m.cast_nullptr_t() is None
+
+
+def test_reference_wrapper():
+    """std::reference_wrapper for builtin and user types"""
+    assert m.refwrap_builtin(42) == 420
+    assert m.refwrap_usertype(UserType(42)) == 42
+
+    with pytest.raises(TypeError) as excinfo:
+        m.refwrap_builtin(None)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.refwrap_usertype(None)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    a1 = m.refwrap_list(copy=True)
+    a2 = m.refwrap_list(copy=True)
+    assert [x.value for x in a1] == [2, 3]
+    assert [x.value for x in a2] == [2, 3]
+    assert not a1[0] is a2[0] and not a1[1] is a2[1]
+
+    b1 = m.refwrap_list(copy=False)
+    b2 = m.refwrap_list(copy=False)
+    assert [x.value for x in b1] == [1, 2]
+    assert [x.value for x in b2] == [1, 2]
+    assert b1[0] is b2[0] and b1[1] is b2[1]
+
+    assert m.refwrap_iiw(IncType(5)) == 5
+    assert m.refwrap_call_iiw(IncType(10), m.refwrap_iiw) == [10, 10, 10, 10]
+
+
+def test_complex_cast():
+    """std::complex casts"""
+    assert m.complex_cast(1) == "1.0"
+    assert m.complex_cast(2j) == "(0.0, 2.0)"
+
+
+def test_bool_caster():
+    """Test bool caster implicit conversions."""
+    convert, noconvert = m.bool_passthrough, m.bool_passthrough_noconvert
+
+    def require_implicit(v):
+        pytest.raises(TypeError, noconvert, v)
+
+    def cant_convert(v):
+        pytest.raises(TypeError, convert, v)
+
+    # straight up bool
+    assert convert(True) is True
+    assert convert(False) is False
+    assert noconvert(True) is True
+    assert noconvert(False) is False
+
+    # None requires implicit conversion
+    require_implicit(None)
+    assert convert(None) is False
+
+    class A(object):
+        def __init__(self, x):
+            self.x = x
+
+        def __nonzero__(self):
+            return self.x
+
+        def __bool__(self):
+            return self.x
+
+    class B(object):
+        pass
+
+    # Arbitrary objects are not accepted
+    cant_convert(object())
+    cant_convert(B())
+
+    # Objects with __nonzero__ / __bool__ defined can be converted
+    require_implicit(A(True))
+    assert convert(A(True)) is True
+    assert convert(A(False)) is False
+
+
+def test_numpy_bool():
+    np = pytest.importorskip("numpy")
+
+    convert, noconvert = m.bool_passthrough, m.bool_passthrough_noconvert
+
+    def cant_convert(v):
+        pytest.raises(TypeError, convert, v)
+
+    # np.bool_ is not considered implicit
+    assert convert(np.bool_(True)) is True
+    assert convert(np.bool_(False)) is False
+    assert noconvert(np.bool_(True)) is True
+    assert noconvert(np.bool_(False)) is False
+    cant_convert(np.zeros(2, dtype='int'))
+
+
+def test_int_long():
+    """In Python 2, a C++ int should return a Python int rather than long
+    if possible: longs are not always accepted where ints are used (such
+    as the argument to sys.exit()). A C++ long long is always a Python
+    long."""
+
+    import sys
+    must_be_long = type(getattr(sys, 'maxint', 1) + 1)
+    assert isinstance(m.int_cast(), int)
+    assert isinstance(m.long_cast(), int)
+    assert isinstance(m.longlong_cast(), must_be_long)
+
+
+def test_void_caster_2():
+    assert m.test_void_caster()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.cpp
new file mode 100644
index 0000000..26c83f8
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.cpp
@@ -0,0 +1,101 @@
+/*
+    tests/test_call_policies.cpp -- keep_alive and call_guard
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+struct CustomGuard {
+    static bool enabled;
+
+    CustomGuard() { enabled = true; }
+    ~CustomGuard() { enabled = false; }
+
+    static const char *report_status() { return enabled ? "guarded" : "unguarded"; }
+};
+bool CustomGuard::enabled = false;
+
+struct DependentGuard {
+    static bool enabled;
+
+    DependentGuard() { enabled = CustomGuard::enabled; }
+    ~DependentGuard() { enabled = false; }
+
+    static const char *report_status() { return enabled ? "guarded" : "unguarded"; }
+};
+bool DependentGuard::enabled = false;
+
+TEST_SUBMODULE(call_policies, m) {
+    // Parent/Child are used in:
+    // test_keep_alive_argument, test_keep_alive_return_value, test_alive_gc_derived,
+    // test_alive_gc_multi_derived, test_return_none, test_keep_alive_constructor
+    class Child {
+    public:
+        Child() { py::print("Allocating child."); }
+        Child(const Child &) = default;
+        Child(Child &&) = default;
+        ~Child() { py::print("Releasing child."); }
+    };
+    py::class_<Child>(m, "Child")
+        .def(py::init<>());
+
+    class Parent {
+    public:
+        Parent() { py::print("Allocating parent."); }
+        Parent(const Parent& parent) = default;
+        ~Parent() { py::print("Releasing parent."); }
+        void addChild(Child *) { }
+        Child *returnChild() { return new Child(); }
+        Child *returnNullChild() { return nullptr; }
+    };
+    py::class_<Parent>(m, "Parent")
+        .def(py::init<>())
+        .def(py::init([](Child *) { return new Parent(); }), py::keep_alive<1, 2>())
+        .def("addChild", &Parent::addChild)
+        .def("addChildKeepAlive", &Parent::addChild, py::keep_alive<1, 2>())
+        .def("returnChild", &Parent::returnChild)
+        .def("returnChildKeepAlive", &Parent::returnChild, py::keep_alive<1, 0>())
+        .def("returnNullChildKeepAliveChild", &Parent::returnNullChild, py::keep_alive<1, 0>())
+        .def("returnNullChildKeepAliveParent", &Parent::returnNullChild, py::keep_alive<0, 1>());
+
+#if !defined(PYPY_VERSION)
+    // test_alive_gc
+    class ParentGC : public Parent {
+    public:
+        using Parent::Parent;
+    };
+    py::class_<ParentGC, Parent>(m, "ParentGC", py::dynamic_attr())
+        .def(py::init<>());
+#endif
+
+    // test_call_guard
+    m.def("unguarded_call", &CustomGuard::report_status);
+    m.def("guarded_call", &CustomGuard::report_status, py::call_guard<CustomGuard>());
+
+    m.def("multiple_guards_correct_order", []() {
+        return CustomGuard::report_status() + std::string(" & ") + DependentGuard::report_status();
+    }, py::call_guard<CustomGuard, DependentGuard>());
+
+    m.def("multiple_guards_wrong_order", []() {
+        return DependentGuard::report_status() + std::string(" & ") + CustomGuard::report_status();
+    }, py::call_guard<DependentGuard, CustomGuard>());
+
+#if defined(WITH_THREAD) && !defined(PYPY_VERSION)
+    // `py::call_guard<py::gil_scoped_release>()` should work in PyPy as well,
+    // but it's unclear how to test it without `PyGILState_GetThisThreadState`.
+    auto report_gil_status = []() {
+        auto is_gil_held = false;
+        if (auto tstate = py::detail::get_thread_state_unchecked())
+            is_gil_held = (tstate == PyGILState_GetThisThreadState());
+
+        return is_gil_held ? "GIL held" : "GIL released";
+    };
+
+    m.def("with_gil", report_gil_status);
+    m.def("without_gil", report_gil_status, py::call_guard<py::gil_scoped_release>());
+#endif
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.py
new file mode 100644
index 0000000..ec005c1
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_call_policies.py
@@ -0,0 +1,192 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import call_policies as m
+from pybind11_tests import ConstructorStats
+
+
+@pytest.mark.xfail("env.PYPY", reason="sometimes comes out 1 off on PyPy", strict=False)
+def test_keep_alive_argument(capture):
+    n_inst = ConstructorStats.detail_reg_inst()
+    with capture:
+        p = m.Parent()
+    assert capture == "Allocating parent."
+    with capture:
+        p.addChild(m.Child())
+        assert ConstructorStats.detail_reg_inst() == n_inst + 1
+    assert capture == """
+        Allocating child.
+        Releasing child.
+    """
+    with capture:
+        del p
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == "Releasing parent."
+
+    with capture:
+        p = m.Parent()
+    assert capture == "Allocating parent."
+    with capture:
+        p.addChildKeepAlive(m.Child())
+        assert ConstructorStats.detail_reg_inst() == n_inst + 2
+    assert capture == "Allocating child."
+    with capture:
+        del p
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == """
+        Releasing parent.
+        Releasing child.
+    """
+
+
+def test_keep_alive_return_value(capture):
+    n_inst = ConstructorStats.detail_reg_inst()
+    with capture:
+        p = m.Parent()
+    assert capture == "Allocating parent."
+    with capture:
+        p.returnChild()
+        assert ConstructorStats.detail_reg_inst() == n_inst + 1
+    assert capture == """
+        Allocating child.
+        Releasing child.
+    """
+    with capture:
+        del p
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == "Releasing parent."
+
+    with capture:
+        p = m.Parent()
+    assert capture == "Allocating parent."
+    with capture:
+        p.returnChildKeepAlive()
+        assert ConstructorStats.detail_reg_inst() == n_inst + 2
+    assert capture == "Allocating child."
+    with capture:
+        del p
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == """
+        Releasing parent.
+        Releasing child.
+    """
+
+
+# https://foss.heptapod.net/pypy/pypy/-/issues/2447
+@pytest.mark.xfail("env.PYPY", reason="_PyObject_GetDictPtr is unimplemented")
+def test_alive_gc(capture):
+    n_inst = ConstructorStats.detail_reg_inst()
+    p = m.ParentGC()
+    p.addChildKeepAlive(m.Child())
+    assert ConstructorStats.detail_reg_inst() == n_inst + 2
+    lst = [p]
+    lst.append(lst)   # creates a circular reference
+    with capture:
+        del p, lst
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == """
+        Releasing parent.
+        Releasing child.
+    """
+
+
+def test_alive_gc_derived(capture):
+    class Derived(m.Parent):
+        pass
+
+    n_inst = ConstructorStats.detail_reg_inst()
+    p = Derived()
+    p.addChildKeepAlive(m.Child())
+    assert ConstructorStats.detail_reg_inst() == n_inst + 2
+    lst = [p]
+    lst.append(lst)   # creates a circular reference
+    with capture:
+        del p, lst
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == """
+        Releasing parent.
+        Releasing child.
+    """
+
+
+def test_alive_gc_multi_derived(capture):
+    class Derived(m.Parent, m.Child):
+        def __init__(self):
+            m.Parent.__init__(self)
+            m.Child.__init__(self)
+
+    n_inst = ConstructorStats.detail_reg_inst()
+    p = Derived()
+    p.addChildKeepAlive(m.Child())
+    # +3 rather than +2 because Derived corresponds to two registered instances
+    assert ConstructorStats.detail_reg_inst() == n_inst + 3
+    lst = [p]
+    lst.append(lst)   # creates a circular reference
+    with capture:
+        del p, lst
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == """
+        Releasing parent.
+        Releasing child.
+        Releasing child.
+    """
+
+
+def test_return_none(capture):
+    n_inst = ConstructorStats.detail_reg_inst()
+    with capture:
+        p = m.Parent()
+    assert capture == "Allocating parent."
+    with capture:
+        p.returnNullChildKeepAliveChild()
+        assert ConstructorStats.detail_reg_inst() == n_inst + 1
+    assert capture == ""
+    with capture:
+        del p
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == "Releasing parent."
+
+    with capture:
+        p = m.Parent()
+    assert capture == "Allocating parent."
+    with capture:
+        p.returnNullChildKeepAliveParent()
+        assert ConstructorStats.detail_reg_inst() == n_inst + 1
+    assert capture == ""
+    with capture:
+        del p
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == "Releasing parent."
+
+
+def test_keep_alive_constructor(capture):
+    n_inst = ConstructorStats.detail_reg_inst()
+
+    with capture:
+        p = m.Parent(m.Child())
+        assert ConstructorStats.detail_reg_inst() == n_inst + 2
+    assert capture == """
+        Allocating child.
+        Allocating parent.
+    """
+    with capture:
+        del p
+        assert ConstructorStats.detail_reg_inst() == n_inst
+    assert capture == """
+        Releasing parent.
+        Releasing child.
+    """
+
+
+def test_call_guard():
+    assert m.unguarded_call() == "unguarded"
+    assert m.guarded_call() == "guarded"
+
+    assert m.multiple_guards_correct_order() == "guarded & guarded"
+    assert m.multiple_guards_wrong_order() == "unguarded & guarded"
+
+    if hasattr(m, "with_gil"):
+        assert m.with_gil() == "GIL held"
+        assert m.without_gil() == "GIL released"
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.cpp
new file mode 100644
index 0000000..71b88c4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.cpp
@@ -0,0 +1,168 @@
+/*
+    tests/test_callbacks.cpp -- callbacks
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/functional.h>
+#include <thread>
+
+
+int dummy_function(int i) { return i + 1; }
+
+TEST_SUBMODULE(callbacks, m) {
+    // test_callbacks, test_function_signatures
+    m.def("test_callback1", [](py::object func) { return func(); });
+    m.def("test_callback2", [](py::object func) { return func("Hello", 'x', true, 5); });
+    m.def("test_callback3", [](const std::function<int(int)> &func) {
+        return "func(43) = " + std::to_string(func(43)); });
+    m.def("test_callback4", []() -> std::function<int(int)> { return [](int i) { return i+1; }; });
+    m.def("test_callback5", []() {
+        return py::cpp_function([](int i) { return i+1; }, py::arg("number"));
+    });
+
+    // test_keyword_args_and_generalized_unpacking
+    m.def("test_tuple_unpacking", [](py::function f) {
+        auto t1 = py::make_tuple(2, 3);
+        auto t2 = py::make_tuple(5, 6);
+        return f("positional", 1, *t1, 4, *t2);
+    });
+
+    m.def("test_dict_unpacking", [](py::function f) {
+        auto d1 = py::dict("key"_a="value", "a"_a=1);
+        auto d2 = py::dict();
+        auto d3 = py::dict("b"_a=2);
+        return f("positional", 1, **d1, **d2, **d3);
+    });
+
+    m.def("test_keyword_args", [](py::function f) {
+        return f("x"_a=10, "y"_a=20);
+    });
+
+    m.def("test_unpacking_and_keywords1", [](py::function f) {
+        auto args = py::make_tuple(2);
+        auto kwargs = py::dict("d"_a=4);
+        return f(1, *args, "c"_a=3, **kwargs);
+    });
+
+    m.def("test_unpacking_and_keywords2", [](py::function f) {
+        auto kwargs1 = py::dict("a"_a=1);
+        auto kwargs2 = py::dict("c"_a=3, "d"_a=4);
+        return f("positional", *py::make_tuple(1), 2, *py::make_tuple(3, 4), 5,
+                 "key"_a="value", **kwargs1, "b"_a=2, **kwargs2, "e"_a=5);
+    });
+
+    m.def("test_unpacking_error1", [](py::function f) {
+        auto kwargs = py::dict("x"_a=3);
+        return f("x"_a=1, "y"_a=2, **kwargs); // duplicate ** after keyword
+    });
+
+    m.def("test_unpacking_error2", [](py::function f) {
+        auto kwargs = py::dict("x"_a=3);
+        return f(**kwargs, "x"_a=1); // duplicate keyword after **
+    });
+
+    m.def("test_arg_conversion_error1", [](py::function f) {
+        f(234, UnregisteredType(), "kw"_a=567);
+    });
+
+    m.def("test_arg_conversion_error2", [](py::function f) {
+        f(234, "expected_name"_a=UnregisteredType(), "kw"_a=567);
+    });
+
+    // test_lambda_closure_cleanup
+    struct Payload {
+        Payload() { print_default_created(this); }
+        ~Payload() { print_destroyed(this); }
+        Payload(const Payload &) { print_copy_created(this); }
+        Payload(Payload &&) { print_move_created(this); }
+    };
+    // Export the payload constructor statistics for testing purposes:
+    m.def("payload_cstats", &ConstructorStats::get<Payload>);
+    /* Test cleanup of lambda closure */
+    m.def("test_cleanup", []() -> std::function<void(void)> {
+        Payload p;
+
+        return [p]() {
+            /* p should be cleaned up when the returned function is garbage collected */
+            (void) p;
+        };
+    });
+
+    // test_cpp_function_roundtrip
+    /* Test if passing a function pointer from C++ -> Python -> C++ yields the original pointer */
+    m.def("dummy_function", &dummy_function);
+    m.def("dummy_function2", [](int i, int j) { return i + j; });
+    m.def("roundtrip", [](std::function<int(int)> f, bool expect_none = false) {
+        if (expect_none && f)
+            throw std::runtime_error("Expected None to be converted to empty std::function");
+        return f;
+    }, py::arg("f"), py::arg("expect_none")=false);
+    m.def("test_dummy_function", [](const std::function<int(int)> &f) -> std::string {
+        using fn_type = int (*)(int);
+        auto result = f.target<fn_type>();
+        if (!result) {
+            auto r = f(1);
+            return "can't convert to function pointer: eval(1) = " + std::to_string(r);
+        } else if (*result == dummy_function) {
+            auto r = (*result)(1);
+            return "matches dummy_function: eval(1) = " + std::to_string(r);
+        } else {
+            return "argument does NOT match dummy_function. This should never happen!";
+        }
+    });
+
+    class AbstractBase { public: virtual unsigned int func() = 0; };
+    m.def("func_accepting_func_accepting_base", [](std::function<double(AbstractBase&)>) { });
+
+    struct MovableObject {
+        bool valid = true;
+
+        MovableObject() = default;
+        MovableObject(const MovableObject &) = default;
+        MovableObject &operator=(const MovableObject &) = default;
+        MovableObject(MovableObject &&o) : valid(o.valid) { o.valid = false; }
+        MovableObject &operator=(MovableObject &&o) {
+            valid = o.valid;
+            o.valid = false;
+            return *this;
+        }
+    };
+    py::class_<MovableObject>(m, "MovableObject");
+
+    // test_movable_object
+    m.def("callback_with_movable", [](std::function<void(MovableObject &)> f) {
+        auto x = MovableObject();
+        f(x); // lvalue reference shouldn't move out object
+        return x.valid; // must still return `true`
+    });
+
+    // test_bound_method_callback
+    struct CppBoundMethodTest {};
+    py::class_<CppBoundMethodTest>(m, "CppBoundMethodTest")
+        .def(py::init<>())
+        .def("triple", [](CppBoundMethodTest &, int val) { return 3 * val; });
+
+    // test async Python callbacks
+    using callback_f = std::function<void(int)>;
+    m.def("test_async_callback", [](callback_f f, py::list work) {
+        // make detached thread that calls `f` with piece of work after a little delay
+        auto start_f = [f](int j) {
+            auto invoke_f = [f, j] {
+                std::this_thread::sleep_for(std::chrono::milliseconds(50));
+                f(j);
+            };
+            auto t = std::thread(std::move(invoke_f));
+            t.detach();
+        };
+
+        // spawn worker threads
+        for (auto i : work)
+            start_f(py::cast<int>(i));
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.py
new file mode 100644
index 0000000..d5d0e04
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_callbacks.py
@@ -0,0 +1,137 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import callbacks as m
+from threading import Thread
+
+
+def test_callbacks():
+    from functools import partial
+
+    def func1():
+        return "func1"
+
+    def func2(a, b, c, d):
+        return "func2", a, b, c, d
+
+    def func3(a):
+        return "func3({})".format(a)
+
+    assert m.test_callback1(func1) == "func1"
+    assert m.test_callback2(func2) == ("func2", "Hello", "x", True, 5)
+    assert m.test_callback1(partial(func2, 1, 2, 3, 4)) == ("func2", 1, 2, 3, 4)
+    assert m.test_callback1(partial(func3, "partial")) == "func3(partial)"
+    assert m.test_callback3(lambda i: i + 1) == "func(43) = 44"
+
+    f = m.test_callback4()
+    assert f(43) == 44
+    f = m.test_callback5()
+    assert f(number=43) == 44
+
+
+def test_bound_method_callback():
+    # Bound Python method:
+    class MyClass:
+        def double(self, val):
+            return 2 * val
+
+    z = MyClass()
+    assert m.test_callback3(z.double) == "func(43) = 86"
+
+    z = m.CppBoundMethodTest()
+    assert m.test_callback3(z.triple) == "func(43) = 129"
+
+
+def test_keyword_args_and_generalized_unpacking():
+
+    def f(*args, **kwargs):
+        return args, kwargs
+
+    assert m.test_tuple_unpacking(f) == (("positional", 1, 2, 3, 4, 5, 6), {})
+    assert m.test_dict_unpacking(f) == (("positional", 1), {"key": "value", "a": 1, "b": 2})
+    assert m.test_keyword_args(f) == ((), {"x": 10, "y": 20})
+    assert m.test_unpacking_and_keywords1(f) == ((1, 2), {"c": 3, "d": 4})
+    assert m.test_unpacking_and_keywords2(f) == (
+        ("positional", 1, 2, 3, 4, 5),
+        {"key": "value", "a": 1, "b": 2, "c": 3, "d": 4, "e": 5}
+    )
+
+    with pytest.raises(TypeError) as excinfo:
+        m.test_unpacking_error1(f)
+    assert "Got multiple values for keyword argument" in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.test_unpacking_error2(f)
+    assert "Got multiple values for keyword argument" in str(excinfo.value)
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.test_arg_conversion_error1(f)
+    assert "Unable to convert call argument" in str(excinfo.value)
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.test_arg_conversion_error2(f)
+    assert "Unable to convert call argument" in str(excinfo.value)
+
+
+def test_lambda_closure_cleanup():
+    m.test_cleanup()
+    cstats = m.payload_cstats()
+    assert cstats.alive() == 0
+    assert cstats.copy_constructions == 1
+    assert cstats.move_constructions >= 1
+
+
+def test_cpp_function_roundtrip():
+    """Test if passing a function pointer from C++ -> Python -> C++ yields the original pointer"""
+
+    assert m.test_dummy_function(m.dummy_function) == "matches dummy_function: eval(1) = 2"
+    assert (m.test_dummy_function(m.roundtrip(m.dummy_function)) ==
+            "matches dummy_function: eval(1) = 2")
+    assert m.roundtrip(None, expect_none=True) is None
+    assert (m.test_dummy_function(lambda x: x + 2) ==
+            "can't convert to function pointer: eval(1) = 3")
+
+    with pytest.raises(TypeError) as excinfo:
+        m.test_dummy_function(m.dummy_function2)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.test_dummy_function(lambda x, y: x + y)
+    assert any(s in str(excinfo.value) for s in ("missing 1 required positional argument",
+                                                 "takes exactly 2 arguments"))
+
+
+def test_function_signatures(doc):
+    assert doc(m.test_callback3) == "test_callback3(arg0: Callable[[int], int]) -> str"
+    assert doc(m.test_callback4) == "test_callback4() -> Callable[[int], int]"
+
+
+def test_movable_object():
+    assert m.callback_with_movable(lambda _: None) is True
+
+
+def test_async_callbacks():
+    # serves as state for async callback
+    class Item:
+        def __init__(self, value):
+            self.value = value
+
+    res = []
+
+    # generate stateful lambda that will store result in `res`
+    def gen_f():
+        s = Item(3)
+        return lambda j: res.append(s.value + j)
+
+    # do some work async
+    work = [1, 2, 3, 4]
+    m.test_async_callback(gen_f(), work)
+    # wait until work is done
+    from time import sleep
+    sleep(0.5)
+    assert sum(res) == sum([x + 3 for x in work])
+
+
+def test_async_async_callbacks():
+    t = Thread(target=test_async_callbacks)
+    t.start()
+    t.join()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.cpp
new file mode 100644
index 0000000..6537050
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.cpp
@@ -0,0 +1,84 @@
+/*
+    tests/test_chrono.cpp -- test conversions to/from std::chrono types
+
+    Copyright (c) 2016 Trent Houliston <trent@houliston.me> and
+                       Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include <pybind11/chrono.h>
+#include <chrono>
+
+struct different_resolutions {
+    using time_point_h = std::chrono::time_point<
+        std::chrono::system_clock, std::chrono::hours>;
+    using time_point_m = std::chrono::time_point<
+        std::chrono::system_clock, std::chrono::minutes>;
+    using time_point_s = std::chrono::time_point<
+        std::chrono::system_clock, std::chrono::seconds>;
+    using time_point_ms = std::chrono::time_point<
+        std::chrono::system_clock, std::chrono::milliseconds>;
+    using time_point_us = std::chrono::time_point<
+        std::chrono::system_clock, std::chrono::microseconds>;
+    time_point_h timestamp_h;
+    time_point_m timestamp_m;
+    time_point_s timestamp_s;
+    time_point_ms timestamp_ms;
+    time_point_us timestamp_us;
+};
+
+TEST_SUBMODULE(chrono, m) {
+    using system_time = std::chrono::system_clock::time_point;
+    using steady_time = std::chrono::steady_clock::time_point;
+
+    using timespan = std::chrono::duration<int64_t, std::nano>;
+    using timestamp = std::chrono::time_point<std::chrono::system_clock, timespan>;
+
+    // test_chrono_system_clock
+    // Return the current time off the wall clock
+    m.def("test_chrono1", []() { return std::chrono::system_clock::now(); });
+
+    // test_chrono_system_clock_roundtrip
+    // Round trip the passed in system clock time
+    m.def("test_chrono2", [](system_time t) { return t; });
+
+    // test_chrono_duration_roundtrip
+    // Round trip the passed in duration
+    m.def("test_chrono3", [](std::chrono::system_clock::duration d) { return d; });
+
+    // test_chrono_duration_subtraction_equivalence
+    // Difference between two passed in time_points
+    m.def("test_chrono4", [](system_time a, system_time b) { return a - b; });
+
+    // test_chrono_steady_clock
+    // Return the current time off the steady_clock
+    m.def("test_chrono5", []() { return std::chrono::steady_clock::now(); });
+
+    // test_chrono_steady_clock_roundtrip
+    // Round trip a steady clock timepoint
+    m.def("test_chrono6", [](steady_time t) { return t; });
+
+    // test_floating_point_duration
+    // Roundtrip a duration in microseconds from a float argument
+    m.def("test_chrono7", [](std::chrono::microseconds t) { return t; });
+    // Float durations (issue #719)
+    m.def("test_chrono_float_diff", [](std::chrono::duration<float> a, std::chrono::duration<float> b) {
+        return a - b; });
+
+    m.def("test_nano_timepoint", [](timestamp start, timespan delta) -> timestamp {
+        return start + delta;
+    });
+
+    // Test different resolutions
+    py::class_<different_resolutions>(m, "different_resolutions")
+        .def(py::init<>())
+        .def_readwrite("timestamp_h", &different_resolutions::timestamp_h)
+        .def_readwrite("timestamp_m", &different_resolutions::timestamp_m)
+        .def_readwrite("timestamp_s", &different_resolutions::timestamp_s)
+        .def_readwrite("timestamp_ms", &different_resolutions::timestamp_ms)
+        .def_readwrite("timestamp_us", &different_resolutions::timestamp_us)
+        ;
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.py
new file mode 100644
index 0000000..ae24b7d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_chrono.py
@@ -0,0 +1,212 @@
+# -*- coding: utf-8 -*-
+from pybind11_tests import chrono as m
+import datetime
+import pytest
+
+import env  # noqa: F401
+
+
+def test_chrono_system_clock():
+
+    # Get the time from both c++ and datetime
+    date0 = datetime.datetime.today()
+    date1 = m.test_chrono1()
+    date2 = datetime.datetime.today()
+
+    # The returned value should be a datetime
+    assert isinstance(date1, datetime.datetime)
+
+    # The numbers should vary by a very small amount (time it took to execute)
+    diff_python = abs(date2 - date0)
+    diff = abs(date1 - date2)
+
+    # There should never be a days difference
+    assert diff.days == 0
+
+    # Since datetime.datetime.today() calls time.time(), and on some platforms
+    # that has 1 second accuracy, we compare this way
+    assert diff.seconds <= diff_python.seconds
+
+
+def test_chrono_system_clock_roundtrip():
+    date1 = datetime.datetime.today()
+
+    # Roundtrip the time
+    date2 = m.test_chrono2(date1)
+
+    # The returned value should be a datetime
+    assert isinstance(date2, datetime.datetime)
+
+    # They should be identical (no information lost on roundtrip)
+    diff = abs(date1 - date2)
+    assert diff.days == 0
+    assert diff.seconds == 0
+    assert diff.microseconds == 0
+
+
+def test_chrono_system_clock_roundtrip_date():
+    date1 = datetime.date.today()
+
+    # Roundtrip the time
+    datetime2 = m.test_chrono2(date1)
+    date2 = datetime2.date()
+    time2 = datetime2.time()
+
+    # The returned value should be a datetime
+    assert isinstance(datetime2, datetime.datetime)
+    assert isinstance(date2, datetime.date)
+    assert isinstance(time2, datetime.time)
+
+    # They should be identical (no information lost on roundtrip)
+    diff = abs(date1 - date2)
+    assert diff.days == 0
+    assert diff.seconds == 0
+    assert diff.microseconds == 0
+
+    # Year, Month & Day should be the same after the round trip
+    assert date1.year == date2.year
+    assert date1.month == date2.month
+    assert date1.day == date2.day
+
+    # There should be no time information
+    assert time2.hour == 0
+    assert time2.minute == 0
+    assert time2.second == 0
+    assert time2.microsecond == 0
+
+
+SKIP_TZ_ENV_ON_WIN = pytest.mark.skipif(
+    "env.WIN", reason="TZ environment variable only supported on POSIX"
+)
+
+
+@pytest.mark.parametrize("time1", [
+    datetime.datetime.today().time(),
+    datetime.time(0, 0, 0),
+    datetime.time(0, 0, 0, 1),
+    datetime.time(0, 28, 45, 109827),
+    datetime.time(0, 59, 59, 999999),
+    datetime.time(1, 0, 0),
+    datetime.time(5, 59, 59, 0),
+    datetime.time(5, 59, 59, 1),
+])
+@pytest.mark.parametrize("tz", [
+    None,
+    pytest.param("Europe/Brussels", marks=SKIP_TZ_ENV_ON_WIN),
+    pytest.param("Asia/Pyongyang", marks=SKIP_TZ_ENV_ON_WIN),
+    pytest.param("America/New_York", marks=SKIP_TZ_ENV_ON_WIN),
+])
+def test_chrono_system_clock_roundtrip_time(time1, tz, monkeypatch):
+    if tz is not None:
+        monkeypatch.setenv("TZ", "/usr/share/zoneinfo/{}".format(tz))
+
+    # Roundtrip the time
+    datetime2 = m.test_chrono2(time1)
+    date2 = datetime2.date()
+    time2 = datetime2.time()
+
+    # The returned value should be a datetime
+    assert isinstance(datetime2, datetime.datetime)
+    assert isinstance(date2, datetime.date)
+    assert isinstance(time2, datetime.time)
+
+    # Hour, Minute, Second & Microsecond should be the same after the round trip
+    assert time1.hour == time2.hour
+    assert time1.minute == time2.minute
+    assert time1.second == time2.second
+    assert time1.microsecond == time2.microsecond
+
+    # There should be no date information (i.e. date = python base date)
+    assert date2.year == 1970
+    assert date2.month == 1
+    assert date2.day == 1
+
+
+def test_chrono_duration_roundtrip():
+
+    # Get the difference between two times (a timedelta)
+    date1 = datetime.datetime.today()
+    date2 = datetime.datetime.today()
+    diff = date2 - date1
+
+    # Make sure this is a timedelta
+    assert isinstance(diff, datetime.timedelta)
+
+    cpp_diff = m.test_chrono3(diff)
+
+    assert cpp_diff.days == diff.days
+    assert cpp_diff.seconds == diff.seconds
+    assert cpp_diff.microseconds == diff.microseconds
+
+
+def test_chrono_duration_subtraction_equivalence():
+
+    date1 = datetime.datetime.today()
+    date2 = datetime.datetime.today()
+
+    diff = date2 - date1
+    cpp_diff = m.test_chrono4(date2, date1)
+
+    assert cpp_diff.days == diff.days
+    assert cpp_diff.seconds == diff.seconds
+    assert cpp_diff.microseconds == diff.microseconds
+
+
+def test_chrono_duration_subtraction_equivalence_date():
+
+    date1 = datetime.date.today()
+    date2 = datetime.date.today()
+
+    diff = date2 - date1
+    cpp_diff = m.test_chrono4(date2, date1)
+
+    assert cpp_diff.days == diff.days
+    assert cpp_diff.seconds == diff.seconds
+    assert cpp_diff.microseconds == diff.microseconds
+
+
+def test_chrono_steady_clock():
+    time1 = m.test_chrono5()
+    assert isinstance(time1, datetime.timedelta)
+
+
+def test_chrono_steady_clock_roundtrip():
+    time1 = datetime.timedelta(days=10, seconds=10, microseconds=100)
+    time2 = m.test_chrono6(time1)
+
+    assert isinstance(time2, datetime.timedelta)
+
+    # They should be identical (no information lost on roundtrip)
+    assert time1.days == time2.days
+    assert time1.seconds == time2.seconds
+    assert time1.microseconds == time2.microseconds
+
+
+def test_floating_point_duration():
+    # Test using a floating point number in seconds
+    time = m.test_chrono7(35.525123)
+
+    assert isinstance(time, datetime.timedelta)
+
+    assert time.seconds == 35
+    assert 525122 <= time.microseconds <= 525123
+
+    diff = m.test_chrono_float_diff(43.789012, 1.123456)
+    assert diff.seconds == 42
+    assert 665556 <= diff.microseconds <= 665557
+
+
+def test_nano_timepoint():
+    time = datetime.datetime.now()
+    time1 = m.test_nano_timepoint(time, datetime.timedelta(seconds=60))
+    assert(time1 == time + datetime.timedelta(seconds=60))
+
+
+def test_chrono_different_resolutions():
+    resolutions = m.different_resolutions()
+    time = datetime.datetime.now()
+    resolutions.timestamp_h = time
+    resolutions.timestamp_m = time
+    resolutions.timestamp_s = time
+    resolutions.timestamp_ms = time
+    resolutions.timestamp_us = time
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_class.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_class.cpp
new file mode 100644
index 0000000..890fab7
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_class.cpp
@@ -0,0 +1,525 @@
+/*
+    tests/test_class.cpp -- test py::class_ definitions and basic functionality
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include "local_bindings.h"
+#include <pybind11/stl.h>
+
+#if defined(_MSC_VER)
+#  pragma warning(disable: 4324) // warning C4324: structure was padded due to alignment specifier
+#endif
+
+// test_brace_initialization
+struct NoBraceInitialization {
+    NoBraceInitialization(std::vector<int> v) : vec{std::move(v)} {}
+    template <typename T>
+    NoBraceInitialization(std::initializer_list<T> l) : vec(l) {}
+
+    std::vector<int> vec;
+};
+
+TEST_SUBMODULE(class_, m) {
+    // test_instance
+    struct NoConstructor {
+        NoConstructor() = default;
+        NoConstructor(const NoConstructor &) = default;
+        NoConstructor(NoConstructor &&) = default;
+        static NoConstructor *new_instance() {
+            auto *ptr = new NoConstructor();
+            print_created(ptr, "via new_instance");
+            return ptr;
+        }
+        ~NoConstructor() { print_destroyed(this); }
+    };
+
+    py::class_<NoConstructor>(m, "NoConstructor")
+        .def_static("new_instance", &NoConstructor::new_instance, "Return an instance");
+
+    // test_inheritance
+    class Pet {
+    public:
+        Pet(const std::string &name, const std::string &species)
+            : m_name(name), m_species(species) {}
+        std::string name() const { return m_name; }
+        std::string species() const { return m_species; }
+    private:
+        std::string m_name;
+        std::string m_species;
+    };
+
+    class Dog : public Pet {
+    public:
+        Dog(const std::string &name) : Pet(name, "dog") {}
+        std::string bark() const { return "Woof!"; }
+    };
+
+    class Rabbit : public Pet {
+    public:
+        Rabbit(const std::string &name) : Pet(name, "parrot") {}
+    };
+
+    class Hamster : public Pet {
+    public:
+        Hamster(const std::string &name) : Pet(name, "rodent") {}
+    };
+
+    class Chimera : public Pet {
+        Chimera() : Pet("Kimmy", "chimera") {}
+    };
+
+    py::class_<Pet> pet_class(m, "Pet");
+    pet_class
+        .def(py::init<std::string, std::string>())
+        .def("name", &Pet::name)
+        .def("species", &Pet::species);
+
+    /* One way of declaring a subclass relationship: reference parent's class_ object */
+    py::class_<Dog>(m, "Dog", pet_class)
+        .def(py::init<std::string>());
+
+    /* Another way of declaring a subclass relationship: reference parent's C++ type */
+    py::class_<Rabbit, Pet>(m, "Rabbit")
+        .def(py::init<std::string>());
+
+    /* And another: list parent in class template arguments */
+    py::class_<Hamster, Pet>(m, "Hamster")
+        .def(py::init<std::string>());
+
+    /* Constructors are not inherited by default */
+    py::class_<Chimera, Pet>(m, "Chimera");
+
+    m.def("pet_name_species", [](const Pet &pet) { return pet.name() + " is a " + pet.species(); });
+    m.def("dog_bark", [](const Dog &dog) { return dog.bark(); });
+
+    // test_automatic_upcasting
+    struct BaseClass {
+        BaseClass() = default;
+        BaseClass(const BaseClass &) = default;
+        BaseClass(BaseClass &&) = default;
+        virtual ~BaseClass() = default;
+    };
+    struct DerivedClass1 : BaseClass { };
+    struct DerivedClass2 : BaseClass { };
+
+    py::class_<BaseClass>(m, "BaseClass").def(py::init<>());
+    py::class_<DerivedClass1>(m, "DerivedClass1").def(py::init<>());
+    py::class_<DerivedClass2>(m, "DerivedClass2").def(py::init<>());
+
+    m.def("return_class_1", []() -> BaseClass* { return new DerivedClass1(); });
+    m.def("return_class_2", []() -> BaseClass* { return new DerivedClass2(); });
+    m.def("return_class_n", [](int n) -> BaseClass* {
+        if (n == 1) return new DerivedClass1();
+        if (n == 2) return new DerivedClass2();
+        return new BaseClass();
+    });
+    m.def("return_none", []() -> BaseClass* { return nullptr; });
+
+    // test_isinstance
+    m.def("check_instances", [](py::list l) {
+        return py::make_tuple(
+            py::isinstance<py::tuple>(l[0]),
+            py::isinstance<py::dict>(l[1]),
+            py::isinstance<Pet>(l[2]),
+            py::isinstance<Pet>(l[3]),
+            py::isinstance<Dog>(l[4]),
+            py::isinstance<Rabbit>(l[5]),
+            py::isinstance<UnregisteredType>(l[6])
+        );
+    });
+
+    struct Invalid {};
+
+    // test_type
+    m.def("check_type", [](int category) {
+        // Currently not supported (via a fail at compile time)
+        // See https://github.com/pybind/pybind11/issues/2486
+        // if (category == 2)
+        //     return py::type::of<int>();
+        if (category == 1)
+            return py::type::of<DerivedClass1>();
+        else
+            return py::type::of<Invalid>();
+    });
+
+    m.def("get_type_of", [](py::object ob) {
+        return py::type::of(ob);
+    });
+
+    m.def("get_type_classic", [](py::handle h) {
+        return h.get_type();
+    });
+
+    m.def("as_type", [](py::object ob) {
+        return py::type(ob);
+    });
+
+    // test_mismatched_holder
+    struct MismatchBase1 { };
+    struct MismatchDerived1 : MismatchBase1 { };
+
+    struct MismatchBase2 { };
+    struct MismatchDerived2 : MismatchBase2 { };
+
+    m.def("mismatched_holder_1", []() {
+        auto mod = py::module_::import("__main__");
+        py::class_<MismatchBase1, std::shared_ptr<MismatchBase1>>(mod, "MismatchBase1");
+        py::class_<MismatchDerived1, MismatchBase1>(mod, "MismatchDerived1");
+    });
+    m.def("mismatched_holder_2", []() {
+        auto mod = py::module_::import("__main__");
+        py::class_<MismatchBase2>(mod, "MismatchBase2");
+        py::class_<MismatchDerived2, std::shared_ptr<MismatchDerived2>,
+                   MismatchBase2>(mod, "MismatchDerived2");
+    });
+
+    // test_override_static
+    // #511: problem with inheritance + overwritten def_static
+    struct MyBase {
+        static std::unique_ptr<MyBase> make() {
+            return std::unique_ptr<MyBase>(new MyBase());
+        }
+    };
+
+    struct MyDerived : MyBase {
+        static std::unique_ptr<MyDerived> make() {
+            return std::unique_ptr<MyDerived>(new MyDerived());
+        }
+    };
+
+    py::class_<MyBase>(m, "MyBase")
+        .def_static("make", &MyBase::make);
+
+    py::class_<MyDerived, MyBase>(m, "MyDerived")
+        .def_static("make", &MyDerived::make)
+        .def_static("make2", &MyDerived::make);
+
+    // test_implicit_conversion_life_support
+    struct ConvertibleFromUserType {
+        int i;
+
+        ConvertibleFromUserType(UserType u) : i(u.value()) { }
+    };
+
+    py::class_<ConvertibleFromUserType>(m, "AcceptsUserType")
+        .def(py::init<UserType>());
+    py::implicitly_convertible<UserType, ConvertibleFromUserType>();
+
+    m.def("implicitly_convert_argument", [](const ConvertibleFromUserType &r) { return r.i; });
+    m.def("implicitly_convert_variable", [](py::object o) {
+        // `o` is `UserType` and `r` is a reference to a temporary created by implicit
+        // conversion. This is valid when called inside a bound function because the temp
+        // object is attached to the same life support system as the arguments.
+        const auto &r = o.cast<const ConvertibleFromUserType &>();
+        return r.i;
+    });
+    m.add_object("implicitly_convert_variable_fail", [&] {
+        auto f = [](PyObject *, PyObject *args) -> PyObject * {
+            auto o = py::reinterpret_borrow<py::tuple>(args)[0];
+            try { // It should fail here because there is no life support.
+                o.cast<const ConvertibleFromUserType &>();
+            } catch (const py::cast_error &e) {
+                return py::str(e.what()).release().ptr();
+            }
+            return py::str().release().ptr();
+        };
+
+        auto def = new PyMethodDef{"f", f, METH_VARARGS, nullptr};
+        return py::reinterpret_steal<py::object>(PyCFunction_NewEx(def, nullptr, m.ptr()));
+    }());
+
+    // test_operator_new_delete
+    struct HasOpNewDel {
+        std::uint64_t i;
+        static void *operator new(size_t s) { py::print("A new", s); return ::operator new(s); }
+        static void *operator new(size_t s, void *ptr) { py::print("A placement-new", s); return ptr; }
+        static void operator delete(void *p) { py::print("A delete"); return ::operator delete(p); }
+    };
+    struct HasOpNewDelSize {
+        std::uint32_t i;
+        static void *operator new(size_t s) { py::print("B new", s); return ::operator new(s); }
+        static void *operator new(size_t s, void *ptr) { py::print("B placement-new", s); return ptr; }
+        static void operator delete(void *p, size_t s) { py::print("B delete", s); return ::operator delete(p); }
+    };
+    struct AliasedHasOpNewDelSize {
+        std::uint64_t i;
+        static void *operator new(size_t s) { py::print("C new", s); return ::operator new(s); }
+        static void *operator new(size_t s, void *ptr) { py::print("C placement-new", s); return ptr; }
+        static void operator delete(void *p, size_t s) { py::print("C delete", s); return ::operator delete(p); }
+        virtual ~AliasedHasOpNewDelSize() = default;
+        AliasedHasOpNewDelSize() = default;
+        AliasedHasOpNewDelSize(const AliasedHasOpNewDelSize&) = delete;
+    };
+    struct PyAliasedHasOpNewDelSize : AliasedHasOpNewDelSize {
+        PyAliasedHasOpNewDelSize() = default;
+        PyAliasedHasOpNewDelSize(int) { }
+        std::uint64_t j;
+    };
+    struct HasOpNewDelBoth {
+        std::uint32_t i[8];
+        static void *operator new(size_t s) { py::print("D new", s); return ::operator new(s); }
+        static void *operator new(size_t s, void *ptr) { py::print("D placement-new", s); return ptr; }
+        static void operator delete(void *p) { py::print("D delete"); return ::operator delete(p); }
+        static void operator delete(void *p, size_t s) { py::print("D wrong delete", s); return ::operator delete(p); }
+    };
+    py::class_<HasOpNewDel>(m, "HasOpNewDel").def(py::init<>());
+    py::class_<HasOpNewDelSize>(m, "HasOpNewDelSize").def(py::init<>());
+    py::class_<HasOpNewDelBoth>(m, "HasOpNewDelBoth").def(py::init<>());
+    py::class_<AliasedHasOpNewDelSize, PyAliasedHasOpNewDelSize> aliased(m, "AliasedHasOpNewDelSize");
+    aliased.def(py::init<>());
+    aliased.attr("size_noalias") = py::int_(sizeof(AliasedHasOpNewDelSize));
+    aliased.attr("size_alias") = py::int_(sizeof(PyAliasedHasOpNewDelSize));
+
+    // This test is actually part of test_local_bindings (test_duplicate_local), but we need a
+    // definition in a different compilation unit within the same module:
+    bind_local<LocalExternal, 17>(m, "LocalExternal", py::module_local());
+
+    // test_bind_protected_functions
+    class ProtectedA {
+    protected:
+        int foo() const { return value; }
+
+    private:
+        int value = 42;
+    };
+
+    class PublicistA : public ProtectedA {
+    public:
+        using ProtectedA::foo;
+    };
+
+    py::class_<ProtectedA>(m, "ProtectedA")
+        .def(py::init<>())
+#if !defined(_MSC_VER) || _MSC_VER >= 1910
+        .def("foo", &PublicistA::foo);
+#else
+        .def("foo", static_cast<int (ProtectedA::*)() const>(&PublicistA::foo));
+#endif
+
+    class ProtectedB {
+    public:
+        virtual ~ProtectedB() = default;
+        ProtectedB() = default;
+        ProtectedB(const ProtectedB &) = delete;
+
+    protected:
+        virtual int foo() const { return value; }
+
+    private:
+        int value = 42;
+    };
+
+    class TrampolineB : public ProtectedB {
+    public:
+        int foo() const override { PYBIND11_OVERRIDE(int, ProtectedB, foo, ); }
+    };
+
+    class PublicistB : public ProtectedB {
+    public:
+        using ProtectedB::foo;
+    };
+
+    py::class_<ProtectedB, TrampolineB>(m, "ProtectedB")
+        .def(py::init<>())
+#if !defined(_MSC_VER) || _MSC_VER >= 1910
+        .def("foo", &PublicistB::foo);
+#else
+        .def("foo", static_cast<int (ProtectedB::*)() const>(&PublicistB::foo));
+#endif
+
+    // test_brace_initialization
+    struct BraceInitialization {
+        int field1;
+        std::string field2;
+    };
+
+    py::class_<BraceInitialization>(m, "BraceInitialization")
+        .def(py::init<int, const std::string &>())
+        .def_readwrite("field1", &BraceInitialization::field1)
+        .def_readwrite("field2", &BraceInitialization::field2);
+    // We *don't* want to construct using braces when the given constructor argument maps to a
+    // constructor, because brace initialization could go to the wrong place (in particular when
+    // there is also an `initializer_list<T>`-accept constructor):
+    py::class_<NoBraceInitialization>(m, "NoBraceInitialization")
+        .def(py::init<std::vector<int>>())
+        .def_readonly("vec", &NoBraceInitialization::vec);
+
+    // test_reentrant_implicit_conversion_failure
+    // #1035: issue with runaway reentrant implicit conversion
+    struct BogusImplicitConversion {
+        BogusImplicitConversion(const BogusImplicitConversion &) = default;
+    };
+
+    py::class_<BogusImplicitConversion>(m, "BogusImplicitConversion")
+        .def(py::init<const BogusImplicitConversion &>());
+
+    py::implicitly_convertible<int, BogusImplicitConversion>();
+
+    // test_qualname
+    // #1166: nested class docstring doesn't show nested name
+    // Also related: tests that __qualname__ is set properly
+    struct NestBase {};
+    struct Nested {};
+    py::class_<NestBase> base(m, "NestBase");
+    base.def(py::init<>());
+    py::class_<Nested>(base, "Nested")
+        .def(py::init<>())
+        .def("fn", [](Nested &, int, NestBase &, Nested &) {})
+        .def("fa", [](Nested &, int, NestBase &, Nested &) {},
+                "a"_a, "b"_a, "c"_a);
+    base.def("g", [](NestBase &, Nested &) {});
+    base.def("h", []() { return NestBase(); });
+
+    // test_error_after_conversion
+    // The second-pass path through dispatcher() previously didn't
+    // remember which overload was used, and would crash trying to
+    // generate a useful error message
+
+    struct NotRegistered {};
+    struct StringWrapper { std::string str; };
+    m.def("test_error_after_conversions", [](int) {});
+    m.def("test_error_after_conversions",
+          [](StringWrapper) -> NotRegistered { return {}; });
+    py::class_<StringWrapper>(m, "StringWrapper").def(py::init<std::string>());
+    py::implicitly_convertible<std::string, StringWrapper>();
+
+    #if defined(PYBIND11_CPP17)
+        struct alignas(1024) Aligned {
+            std::uintptr_t ptr() const { return (uintptr_t) this; }
+        };
+        py::class_<Aligned>(m, "Aligned")
+            .def(py::init<>())
+            .def("ptr", &Aligned::ptr);
+    #endif
+
+    // test_final
+    struct IsFinal final {};
+    py::class_<IsFinal>(m, "IsFinal", py::is_final());
+
+    // test_non_final_final
+    struct IsNonFinalFinal {};
+    py::class_<IsNonFinalFinal>(m, "IsNonFinalFinal", py::is_final());
+
+    // test_exception_rvalue_abort
+    struct PyPrintDestructor {
+        PyPrintDestructor() = default;
+        ~PyPrintDestructor() {
+            py::print("Print from destructor");
+        }
+        void throw_something() { throw std::runtime_error("error"); }
+    };
+    py::class_<PyPrintDestructor>(m, "PyPrintDestructor")
+        .def(py::init<>())
+        .def("throw_something", &PyPrintDestructor::throw_something);
+
+    // test_multiple_instances_with_same_pointer
+    struct SamePointer {};
+    static SamePointer samePointer;
+    py::class_<SamePointer, std::unique_ptr<SamePointer, py::nodelete>>(m, "SamePointer")
+        .def(py::init([]() { return &samePointer; }))
+        .def("__del__", [](SamePointer&) { py::print("__del__ called"); });
+
+    struct Empty {};
+    py::class_<Empty>(m, "Empty")
+        .def(py::init<>());
+
+    // test_base_and_derived_nested_scope
+    struct BaseWithNested {
+        struct Nested {};
+    };
+
+    struct DerivedWithNested : BaseWithNested {
+        struct Nested {};
+    };
+
+    py::class_<BaseWithNested> baseWithNested_class(m, "BaseWithNested");
+    py::class_<DerivedWithNested, BaseWithNested> derivedWithNested_class(m, "DerivedWithNested");
+    py::class_<BaseWithNested::Nested>(baseWithNested_class, "Nested")
+        .def_static("get_name", []() { return "BaseWithNested::Nested"; });
+    py::class_<DerivedWithNested::Nested>(derivedWithNested_class, "Nested")
+        .def_static("get_name", []() { return "DerivedWithNested::Nested"; });
+
+    // test_register_duplicate_class
+    struct Duplicate {};
+    struct OtherDuplicate {};
+    struct DuplicateNested {};
+    struct OtherDuplicateNested {};
+    m.def("register_duplicate_class_name", [](py::module_ m) {
+        py::class_<Duplicate>(m, "Duplicate");
+        py::class_<OtherDuplicate>(m, "Duplicate");
+    });
+    m.def("register_duplicate_class_type", [](py::module_ m) {
+        py::class_<OtherDuplicate>(m, "OtherDuplicate");
+        py::class_<OtherDuplicate>(m, "YetAnotherDuplicate");
+    });
+    m.def("register_duplicate_nested_class_name", [](py::object gt) {
+        py::class_<DuplicateNested>(gt, "DuplicateNested");
+        py::class_<OtherDuplicateNested>(gt, "DuplicateNested");
+    });
+    m.def("register_duplicate_nested_class_type", [](py::object gt) {
+        py::class_<OtherDuplicateNested>(gt, "OtherDuplicateNested");
+        py::class_<OtherDuplicateNested>(gt, "YetAnotherDuplicateNested");
+    });
+}
+
+template <int N> class BreaksBase { public:
+    virtual ~BreaksBase() = default;
+    BreaksBase() = default;
+    BreaksBase(const BreaksBase&) = delete;
+};
+template <int N> class BreaksTramp : public BreaksBase<N> {};
+// These should all compile just fine:
+using DoesntBreak1 = py::class_<BreaksBase<1>, std::unique_ptr<BreaksBase<1>>, BreaksTramp<1>>;
+using DoesntBreak2 = py::class_<BreaksBase<2>, BreaksTramp<2>, std::unique_ptr<BreaksBase<2>>>;
+using DoesntBreak3 = py::class_<BreaksBase<3>, std::unique_ptr<BreaksBase<3>>>;
+using DoesntBreak4 = py::class_<BreaksBase<4>, BreaksTramp<4>>;
+using DoesntBreak5 = py::class_<BreaksBase<5>>;
+using DoesntBreak6 = py::class_<BreaksBase<6>, std::shared_ptr<BreaksBase<6>>, BreaksTramp<6>>;
+using DoesntBreak7 = py::class_<BreaksBase<7>, BreaksTramp<7>, std::shared_ptr<BreaksBase<7>>>;
+using DoesntBreak8 = py::class_<BreaksBase<8>, std::shared_ptr<BreaksBase<8>>>;
+#define CHECK_BASE(N) static_assert(std::is_same<typename DoesntBreak##N::type, BreaksBase<N>>::value, \
+        "DoesntBreak" #N " has wrong type!")
+CHECK_BASE(1); CHECK_BASE(2); CHECK_BASE(3); CHECK_BASE(4); CHECK_BASE(5); CHECK_BASE(6); CHECK_BASE(7); CHECK_BASE(8);
+#define CHECK_ALIAS(N) static_assert(DoesntBreak##N::has_alias && std::is_same<typename DoesntBreak##N::type_alias, BreaksTramp<N>>::value, \
+        "DoesntBreak" #N " has wrong type_alias!")
+#define CHECK_NOALIAS(N) static_assert(!DoesntBreak##N::has_alias && std::is_void<typename DoesntBreak##N::type_alias>::value, \
+        "DoesntBreak" #N " has type alias, but shouldn't!")
+CHECK_ALIAS(1); CHECK_ALIAS(2); CHECK_NOALIAS(3); CHECK_ALIAS(4); CHECK_NOALIAS(5); CHECK_ALIAS(6); CHECK_ALIAS(7); CHECK_NOALIAS(8);
+#define CHECK_HOLDER(N, TYPE) static_assert(std::is_same<typename DoesntBreak##N::holder_type, std::TYPE##_ptr<BreaksBase<N>>>::value, \
+        "DoesntBreak" #N " has wrong holder_type!")
+CHECK_HOLDER(1, unique); CHECK_HOLDER(2, unique); CHECK_HOLDER(3, unique); CHECK_HOLDER(4, unique); CHECK_HOLDER(5, unique);
+CHECK_HOLDER(6, shared); CHECK_HOLDER(7, shared); CHECK_HOLDER(8, shared);
+
+// There's no nice way to test that these fail because they fail to compile; leave them here,
+// though, so that they can be manually tested by uncommenting them (and seeing that compilation
+// failures occurs).
+
+// We have to actually look into the type: the typedef alone isn't enough to instantiate the type:
+#define CHECK_BROKEN(N) static_assert(std::is_same<typename Breaks##N::type, BreaksBase<-N>>::value, \
+        "Breaks1 has wrong type!");
+
+//// Two holder classes:
+//typedef py::class_<BreaksBase<-1>, std::unique_ptr<BreaksBase<-1>>, std::unique_ptr<BreaksBase<-1>>> Breaks1;
+//CHECK_BROKEN(1);
+//// Two aliases:
+//typedef py::class_<BreaksBase<-2>, BreaksTramp<-2>, BreaksTramp<-2>> Breaks2;
+//CHECK_BROKEN(2);
+//// Holder + 2 aliases
+//typedef py::class_<BreaksBase<-3>, std::unique_ptr<BreaksBase<-3>>, BreaksTramp<-3>, BreaksTramp<-3>> Breaks3;
+//CHECK_BROKEN(3);
+//// Alias + 2 holders
+//typedef py::class_<BreaksBase<-4>, std::unique_ptr<BreaksBase<-4>>, BreaksTramp<-4>, std::shared_ptr<BreaksBase<-4>>> Breaks4;
+//CHECK_BROKEN(4);
+//// Invalid option (not a subclass or holder)
+//typedef py::class_<BreaksBase<-5>, BreaksTramp<-4>> Breaks5;
+//CHECK_BROKEN(5);
+//// Invalid option: multiple inheritance not supported:
+//template <> struct BreaksBase<-8> : BreaksBase<-6>, BreaksBase<-7> {};
+//typedef py::class_<BreaksBase<-8>, BreaksBase<-6>, BreaksBase<-7>> Breaks8;
+//CHECK_BROKEN(8);
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_class.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_class.py
new file mode 100644
index 0000000..10e4dd7
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_class.py
@@ -0,0 +1,420 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import class_ as m
+from pybind11_tests import UserType, ConstructorStats
+
+
+def test_repr():
+    # In Python 3.3+, repr() accesses __qualname__
+    assert "pybind11_type" in repr(type(UserType))
+    assert "UserType" in repr(UserType)
+
+
+def test_instance(msg):
+    with pytest.raises(TypeError) as excinfo:
+        m.NoConstructor()
+    assert msg(excinfo.value) == "m.class_.NoConstructor: No constructor defined!"
+
+    instance = m.NoConstructor.new_instance()
+
+    cstats = ConstructorStats.get(m.NoConstructor)
+    assert cstats.alive() == 1
+    del instance
+    assert cstats.alive() == 0
+
+
+def test_type():
+    assert m.check_type(1) == m.DerivedClass1
+    with pytest.raises(RuntimeError) as execinfo:
+        m.check_type(0)
+
+    assert 'pybind11::detail::get_type_info: unable to find type info' in str(execinfo.value)
+    assert 'Invalid' in str(execinfo.value)
+
+    # Currently not supported
+    # See https://github.com/pybind/pybind11/issues/2486
+    # assert m.check_type(2) == int
+
+
+def test_type_of_py():
+    assert m.get_type_of(1) == int
+    assert m.get_type_of(m.DerivedClass1()) == m.DerivedClass1
+    assert m.get_type_of(int) == type
+
+
+def test_type_of_classic():
+    assert m.get_type_classic(1) == int
+    assert m.get_type_classic(m.DerivedClass1()) == m.DerivedClass1
+    assert m.get_type_classic(int) == type
+
+
+def test_type_of_py_nodelete():
+    # If the above test deleted the class, this will segfault
+    assert m.get_type_of(m.DerivedClass1()) == m.DerivedClass1
+
+
+def test_as_type_py():
+    assert m.as_type(int) == int
+
+    with pytest.raises(TypeError):
+        assert m.as_type(1) == int
+
+    with pytest.raises(TypeError):
+        assert m.as_type(m.DerivedClass1()) == m.DerivedClass1
+
+
+def test_docstrings(doc):
+    assert doc(UserType) == "A `py::class_` type for testing"
+    assert UserType.__name__ == "UserType"
+    assert UserType.__module__ == "pybind11_tests"
+    assert UserType.get_value.__name__ == "get_value"
+    assert UserType.get_value.__module__ == "pybind11_tests"
+
+    assert doc(UserType.get_value) == """
+        get_value(self: m.UserType) -> int
+
+        Get value using a method
+    """
+    assert doc(UserType.value) == "Get/set value using a property"
+
+    assert doc(m.NoConstructor.new_instance) == """
+        new_instance() -> m.class_.NoConstructor
+
+        Return an instance
+    """
+
+
+def test_qualname(doc):
+    """Tests that a properly qualified name is set in __qualname__ (even in pre-3.3, where we
+    backport the attribute) and that generated docstrings properly use it and the module name"""
+    assert m.NestBase.__qualname__ == "NestBase"
+    assert m.NestBase.Nested.__qualname__ == "NestBase.Nested"
+
+    assert doc(m.NestBase.__init__) == """
+        __init__(self: m.class_.NestBase) -> None
+    """
+    assert doc(m.NestBase.g) == """
+        g(self: m.class_.NestBase, arg0: m.class_.NestBase.Nested) -> None
+    """
+    assert doc(m.NestBase.Nested.__init__) == """
+        __init__(self: m.class_.NestBase.Nested) -> None
+    """
+    assert doc(m.NestBase.Nested.fn) == """
+        fn(self: m.class_.NestBase.Nested, arg0: int, arg1: m.class_.NestBase, arg2: m.class_.NestBase.Nested) -> None
+    """  # noqa: E501 line too long
+    assert doc(m.NestBase.Nested.fa) == """
+        fa(self: m.class_.NestBase.Nested, a: int, b: m.class_.NestBase, c: m.class_.NestBase.Nested) -> None
+    """  # noqa: E501 line too long
+    assert m.NestBase.__module__ == "pybind11_tests.class_"
+    assert m.NestBase.Nested.__module__ == "pybind11_tests.class_"
+
+
+def test_inheritance(msg):
+    roger = m.Rabbit('Rabbit')
+    assert roger.name() + " is a " + roger.species() == "Rabbit is a parrot"
+    assert m.pet_name_species(roger) == "Rabbit is a parrot"
+
+    polly = m.Pet('Polly', 'parrot')
+    assert polly.name() + " is a " + polly.species() == "Polly is a parrot"
+    assert m.pet_name_species(polly) == "Polly is a parrot"
+
+    molly = m.Dog('Molly')
+    assert molly.name() + " is a " + molly.species() == "Molly is a dog"
+    assert m.pet_name_species(molly) == "Molly is a dog"
+
+    fred = m.Hamster('Fred')
+    assert fred.name() + " is a " + fred.species() == "Fred is a rodent"
+
+    assert m.dog_bark(molly) == "Woof!"
+
+    with pytest.raises(TypeError) as excinfo:
+        m.dog_bark(polly)
+    assert msg(excinfo.value) == """
+        dog_bark(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: m.class_.Dog) -> str
+
+        Invoked with: <m.class_.Pet object at 0>
+    """
+
+    with pytest.raises(TypeError) as excinfo:
+        m.Chimera("lion", "goat")
+    assert "No constructor defined!" in str(excinfo.value)
+
+
+def test_inheritance_init(msg):
+
+    # Single base
+    class Python(m.Pet):
+        def __init__(self):
+            pass
+    with pytest.raises(TypeError) as exc_info:
+        Python()
+    expected = "m.class_.Pet.__init__() must be called when overriding __init__"
+    assert msg(exc_info.value) == expected
+
+    # Multiple bases
+    class RabbitHamster(m.Rabbit, m.Hamster):
+        def __init__(self):
+            m.Rabbit.__init__(self, "RabbitHamster")
+
+    with pytest.raises(TypeError) as exc_info:
+        RabbitHamster()
+    expected = "m.class_.Hamster.__init__() must be called when overriding __init__"
+    assert msg(exc_info.value) == expected
+
+
+def test_automatic_upcasting():
+    assert type(m.return_class_1()).__name__ == "DerivedClass1"
+    assert type(m.return_class_2()).__name__ == "DerivedClass2"
+    assert type(m.return_none()).__name__ == "NoneType"
+    # Repeat these a few times in a random order to ensure no invalid caching is applied
+    assert type(m.return_class_n(1)).__name__ == "DerivedClass1"
+    assert type(m.return_class_n(2)).__name__ == "DerivedClass2"
+    assert type(m.return_class_n(0)).__name__ == "BaseClass"
+    assert type(m.return_class_n(2)).__name__ == "DerivedClass2"
+    assert type(m.return_class_n(2)).__name__ == "DerivedClass2"
+    assert type(m.return_class_n(0)).__name__ == "BaseClass"
+    assert type(m.return_class_n(1)).__name__ == "DerivedClass1"
+
+
+def test_isinstance():
+    objects = [tuple(), dict(), m.Pet("Polly", "parrot")] + [m.Dog("Molly")] * 4
+    expected = (True, True, True, True, True, False, False)
+    assert m.check_instances(objects) == expected
+
+
+def test_mismatched_holder():
+    import re
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.mismatched_holder_1()
+    assert re.match('generic_type: type ".*MismatchDerived1" does not have a non-default '
+                    'holder type while its base ".*MismatchBase1" does', str(excinfo.value))
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.mismatched_holder_2()
+    assert re.match('generic_type: type ".*MismatchDerived2" has a non-default holder type '
+                    'while its base ".*MismatchBase2" does not', str(excinfo.value))
+
+
+def test_override_static():
+    """#511: problem with inheritance + overwritten def_static"""
+    b = m.MyBase.make()
+    d1 = m.MyDerived.make2()
+    d2 = m.MyDerived.make()
+
+    assert isinstance(b, m.MyBase)
+    assert isinstance(d1, m.MyDerived)
+    assert isinstance(d2, m.MyDerived)
+
+
+def test_implicit_conversion_life_support():
+    """Ensure the lifetime of temporary objects created for implicit conversions"""
+    assert m.implicitly_convert_argument(UserType(5)) == 5
+    assert m.implicitly_convert_variable(UserType(5)) == 5
+
+    assert "outside a bound function" in m.implicitly_convert_variable_fail(UserType(5))
+
+
+def test_operator_new_delete(capture):
+    """Tests that class-specific operator new/delete functions are invoked"""
+
+    class SubAliased(m.AliasedHasOpNewDelSize):
+        pass
+
+    with capture:
+        a = m.HasOpNewDel()
+        b = m.HasOpNewDelSize()
+        d = m.HasOpNewDelBoth()
+    assert capture == """
+        A new 8
+        B new 4
+        D new 32
+    """
+    sz_alias = str(m.AliasedHasOpNewDelSize.size_alias)
+    sz_noalias = str(m.AliasedHasOpNewDelSize.size_noalias)
+    with capture:
+        c = m.AliasedHasOpNewDelSize()
+        c2 = SubAliased()
+    assert capture == (
+        "C new " + sz_noalias + "\n" +
+        "C new " + sz_alias + "\n"
+    )
+
+    with capture:
+        del a
+        pytest.gc_collect()
+        del b
+        pytest.gc_collect()
+        del d
+        pytest.gc_collect()
+    assert capture == """
+        A delete
+        B delete 4
+        D delete
+    """
+
+    with capture:
+        del c
+        pytest.gc_collect()
+        del c2
+        pytest.gc_collect()
+    assert capture == (
+        "C delete " + sz_noalias + "\n" +
+        "C delete " + sz_alias + "\n"
+    )
+
+
+def test_bind_protected_functions():
+    """Expose protected member functions to Python using a helper class"""
+    a = m.ProtectedA()
+    assert a.foo() == 42
+
+    b = m.ProtectedB()
+    assert b.foo() == 42
+
+    class C(m.ProtectedB):
+        def __init__(self):
+            m.ProtectedB.__init__(self)
+
+        def foo(self):
+            return 0
+
+    c = C()
+    assert c.foo() == 0
+
+
+def test_brace_initialization():
+    """ Tests that simple POD classes can be constructed using C++11 brace initialization """
+    a = m.BraceInitialization(123, "test")
+    assert a.field1 == 123
+    assert a.field2 == "test"
+
+    # Tests that a non-simple class doesn't get brace initialization (if the
+    # class defines an initializer_list constructor, in particular, it would
+    # win over the expected constructor).
+    b = m.NoBraceInitialization([123, 456])
+    assert b.vec == [123, 456]
+
+
+@pytest.mark.xfail("env.PYPY")
+def test_class_refcount():
+    """Instances must correctly increase/decrease the reference count of their types (#1029)"""
+    from sys import getrefcount
+
+    class PyDog(m.Dog):
+        pass
+
+    for cls in m.Dog, PyDog:
+        refcount_1 = getrefcount(cls)
+        molly = [cls("Molly") for _ in range(10)]
+        refcount_2 = getrefcount(cls)
+
+        del molly
+        pytest.gc_collect()
+        refcount_3 = getrefcount(cls)
+
+        assert refcount_1 == refcount_3
+        assert refcount_2 > refcount_1
+
+
+def test_reentrant_implicit_conversion_failure(msg):
+    # ensure that there is no runaway reentrant implicit conversion (#1035)
+    with pytest.raises(TypeError) as excinfo:
+        m.BogusImplicitConversion(0)
+    assert msg(excinfo.value) == '''
+        __init__(): incompatible constructor arguments. The following argument types are supported:
+            1. m.class_.BogusImplicitConversion(arg0: m.class_.BogusImplicitConversion)
+
+        Invoked with: 0
+    '''
+
+
+def test_error_after_conversions():
+    with pytest.raises(TypeError) as exc_info:
+        m.test_error_after_conversions("hello")
+    assert str(exc_info.value).startswith(
+        "Unable to convert function return value to a Python type!")
+
+
+def test_aligned():
+    if hasattr(m, "Aligned"):
+        p = m.Aligned().ptr()
+        assert p % 1024 == 0
+
+
+# https://foss.heptapod.net/pypy/pypy/-/issues/2742
+@pytest.mark.xfail("env.PYPY")
+def test_final():
+    with pytest.raises(TypeError) as exc_info:
+        class PyFinalChild(m.IsFinal):
+            pass
+    assert str(exc_info.value).endswith("is not an acceptable base type")
+
+
+# https://foss.heptapod.net/pypy/pypy/-/issues/2742
+@pytest.mark.xfail("env.PYPY")
+def test_non_final_final():
+    with pytest.raises(TypeError) as exc_info:
+        class PyNonFinalFinalChild(m.IsNonFinalFinal):
+            pass
+    assert str(exc_info.value).endswith("is not an acceptable base type")
+
+
+# https://github.com/pybind/pybind11/issues/1878
+def test_exception_rvalue_abort():
+    with pytest.raises(RuntimeError):
+        m.PyPrintDestructor().throw_something()
+
+
+# https://github.com/pybind/pybind11/issues/1568
+def test_multiple_instances_with_same_pointer(capture):
+    n = 100
+    instances = [m.SamePointer() for _ in range(n)]
+    for i in range(n):
+        # We need to reuse the same allocated memory for with a different type,
+        # to ensure the bug in `deregister_instance_impl` is detected. Otherwise
+        # `Py_TYPE(self) == Py_TYPE(it->second)` will still succeed, even though
+        # the `instance` is already deleted.
+        instances[i] = m.Empty()
+    # No assert: if this does not trigger the error
+    #   pybind11_fail("pybind11_object_dealloc(): Tried to deallocate unregistered instance!");
+    # and just completes without crashing, we're good.
+
+
+# https://github.com/pybind/pybind11/issues/1624
+def test_base_and_derived_nested_scope():
+    assert issubclass(m.DerivedWithNested, m.BaseWithNested)
+    assert m.BaseWithNested.Nested != m.DerivedWithNested.Nested
+    assert m.BaseWithNested.Nested.get_name() == "BaseWithNested::Nested"
+    assert m.DerivedWithNested.Nested.get_name() == "DerivedWithNested::Nested"
+
+
+@pytest.mark.skip("See https://github.com/pybind/pybind11/pull/2564")
+def test_register_duplicate_class():
+    import types
+    module_scope = types.ModuleType("module_scope")
+    with pytest.raises(RuntimeError) as exc_info:
+        m.register_duplicate_class_name(module_scope)
+    expected = ('generic_type: cannot initialize type "Duplicate": '
+                'an object with that name is already defined')
+    assert str(exc_info.value) == expected
+    with pytest.raises(RuntimeError) as exc_info:
+        m.register_duplicate_class_type(module_scope)
+    expected = 'generic_type: type "YetAnotherDuplicate" is already registered!'
+    assert str(exc_info.value) == expected
+
+    class ClassScope:
+        pass
+    with pytest.raises(RuntimeError) as exc_info:
+        m.register_duplicate_nested_class_name(ClassScope)
+    expected = ('generic_type: cannot initialize type "DuplicateNested": '
+                'an object with that name is already defined')
+    assert str(exc_info.value) == expected
+    with pytest.raises(RuntimeError) as exc_info:
+        m.register_duplicate_nested_class_type(ClassScope)
+    expected = 'generic_type: type "YetAnotherDuplicateNested" is already registered!'
+    assert str(exc_info.value) == expected
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/CMakeLists.txt
new file mode 100644
index 0000000..0c0578a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/CMakeLists.txt
@@ -0,0 +1,79 @@
+# Built-in in CMake 3.5+
+include(CMakeParseArguments)
+
+add_custom_target(test_cmake_build)
+
+function(pybind11_add_build_test name)
+  cmake_parse_arguments(ARG "INSTALL" "" "" ${ARGN})
+
+  set(build_options "-DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER}")
+
+  if(PYBIND11_FINDPYTHON)
+    list(APPEND build_options "-DPYBIND11_FINDPYTHON=${PYBIND11_FINDPYTHON}")
+
+    if(DEFINED Python_ROOT_DIR)
+      list(APPEND build_options "-DPython_ROOT_DIR=${Python_ROOT_DIR}")
+    endif()
+
+    list(APPEND build_options "-DPython_EXECUTABLE=${Python_EXECUTABLE}")
+  else()
+    list(APPEND build_options "-DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}")
+  endif()
+
+  if(DEFINED CMAKE_CXX_STANDARD)
+    list(APPEND build_options "-DCMAKE_CXX_STANDARD=${CMAKE_CXX_STANDARD}")
+  endif()
+
+  if(NOT ARG_INSTALL)
+    list(APPEND build_options "-DPYBIND11_PROJECT_DIR=${pybind11_SOURCE_DIR}")
+  else()
+    list(APPEND build_options "-DCMAKE_PREFIX_PATH=${pybind11_BINARY_DIR}/mock_install")
+  endif()
+
+  add_custom_target(
+    test_build_${name}
+    ${CMAKE_CTEST_COMMAND}
+    --build-and-test
+    "${CMAKE_CURRENT_SOURCE_DIR}/${name}"
+    "${CMAKE_CURRENT_BINARY_DIR}/${name}"
+    --build-config
+    Release
+    --build-noclean
+    --build-generator
+    ${CMAKE_GENERATOR}
+    $<$<BOOL:${CMAKE_GENERATOR_PLATFORM}>:--build-generator-platform>
+    ${CMAKE_GENERATOR_PLATFORM}
+    --build-makeprogram
+    ${CMAKE_MAKE_PROGRAM}
+    --build-target
+    check_${name}
+    --build-options
+    ${build_options})
+  if(ARG_INSTALL)
+    add_dependencies(test_build_${name} mock_install)
+  endif()
+  add_dependencies(test_cmake_build test_build_${name})
+endfunction()
+
+pybind11_add_build_test(subdirectory_function)
+pybind11_add_build_test(subdirectory_target)
+if("${PYTHON_MODULE_EXTENSION}" MATCHES "pypy" OR "${Python_INTERPRETER_ID}" STREQUAL "PyPy")
+  message(STATUS "Skipping embed test on PyPy")
+else()
+  pybind11_add_build_test(subdirectory_embed)
+endif()
+
+if(PYBIND11_INSTALL)
+  add_custom_target(
+    mock_install ${CMAKE_COMMAND} "-DCMAKE_INSTALL_PREFIX=${pybind11_BINARY_DIR}/mock_install" -P
+                 "${pybind11_BINARY_DIR}/cmake_install.cmake")
+
+  pybind11_add_build_test(installed_function INSTALL)
+  pybind11_add_build_test(installed_target INSTALL)
+  if(NOT ("${PYTHON_MODULE_EXTENSION}" MATCHES "pypy" OR "${Python_INTERPRETER_ID}" STREQUAL "PyPy"
+         ))
+    pybind11_add_build_test(installed_embed INSTALL)
+  endif()
+endif()
+
+add_dependencies(check test_cmake_build)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/embed.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/embed.cpp
new file mode 100644
index 0000000..a3abc8a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/embed.cpp
@@ -0,0 +1,21 @@
+#include <pybind11/embed.h>
+namespace py = pybind11;
+
+PYBIND11_EMBEDDED_MODULE(test_cmake_build, m) {
+    m.def("add", [](int i, int j) { return i + j; });
+}
+
+int main(int argc, char *argv[]) {
+    if (argc != 2)
+        throw std::runtime_error("Expected test.py file as the first argument");
+    auto test_py_file = argv[1];
+
+    py::scoped_interpreter guard{};
+
+    auto m = py::module_::import("test_cmake_build");
+    if (m.attr("add")(1, 2).cast<int>() != 3)
+        throw std::runtime_error("embed.cpp failed");
+
+    py::module_::import("sys").attr("argv") = py::make_tuple("test.py", "embed.cpp");
+    py::eval_file(test_py_file, py::globals());
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt
new file mode 100644
index 0000000..64ae5c4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_embed/CMakeLists.txt
@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.4)
+
+# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# some versions of VS that have a patched CMake 3.11. This forces us to emulate
+# the behavior using the following workaround:
+if(${CMAKE_VERSION} VERSION_LESS 3.18)
+  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
+else()
+  cmake_policy(VERSION 3.18)
+endif()
+
+project(test_installed_embed CXX)
+
+find_package(pybind11 CONFIG REQUIRED)
+message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}")
+
+add_executable(test_installed_embed ../embed.cpp)
+target_link_libraries(test_installed_embed PRIVATE pybind11::embed)
+set_target_properties(test_installed_embed PROPERTIES OUTPUT_NAME test_cmake_build)
+
+# Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::embed).
+# This may be needed to resolve header conflicts, e.g. between Python release and debug headers.
+set_target_properties(test_installed_embed PROPERTIES NO_SYSTEM_FROM_IMPORTED ON)
+
+add_custom_target(check_installed_embed $<TARGET_FILE:test_installed_embed>
+                                        ${PROJECT_SOURCE_DIR}/../test.py)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt
new file mode 100644
index 0000000..1a50286
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_function/CMakeLists.txt
@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.4)
+project(test_installed_module CXX)
+
+# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# some versions of VS that have a patched CMake 3.11. This forces us to emulate
+# the behavior using the following workaround:
+if(${CMAKE_VERSION} VERSION_LESS 3.18)
+  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
+else()
+  cmake_policy(VERSION 3.18)
+endif()
+
+project(test_installed_function CXX)
+
+find_package(pybind11 CONFIG REQUIRED)
+message(
+  STATUS "Found pybind11 v${pybind11_VERSION} ${pybind11_VERSION_TYPE}: ${pybind11_INCLUDE_DIRS}")
+
+pybind11_add_module(test_installed_function SHARED NO_EXTRAS ../main.cpp)
+set_target_properties(test_installed_function PROPERTIES OUTPUT_NAME test_cmake_build)
+
+if(DEFINED Python_EXECUTABLE)
+  set(_Python_EXECUTABLE "${Python_EXECUTABLE}")
+elseif(DEFINED PYTHON_EXECUTABLE)
+  set(_Python_EXECUTABLE "${PYTHON_EXECUTABLE}")
+else()
+  message(FATAL_ERROR "No Python executable defined (should not be possible at this stage)")
+endif()
+
+add_custom_target(
+  check_installed_function
+  ${CMAKE_COMMAND}
+  -E
+  env
+  PYTHONPATH=$<TARGET_FILE_DIR:test_installed_function>
+  ${_Python_EXECUTABLE}
+  ${PROJECT_SOURCE_DIR}/../test.py
+  ${PROJECT_NAME})
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt
new file mode 100644
index 0000000..b38eb77
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/installed_target/CMakeLists.txt
@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.4)
+
+# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# some versions of VS that have a patched CMake 3.11. This forces us to emulate
+# the behavior using the following workaround:
+if(${CMAKE_VERSION} VERSION_LESS 3.18)
+  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
+else()
+  cmake_policy(VERSION 3.18)
+endif()
+
+project(test_installed_target CXX)
+
+find_package(pybind11 CONFIG REQUIRED)
+message(STATUS "Found pybind11 v${pybind11_VERSION}: ${pybind11_INCLUDE_DIRS}")
+
+add_library(test_installed_target MODULE ../main.cpp)
+
+target_link_libraries(test_installed_target PRIVATE pybind11::module)
+set_target_properties(test_installed_target PROPERTIES OUTPUT_NAME test_cmake_build)
+
+# Make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib
+pybind11_extension(test_installed_target)
+
+# Do not treat includes from IMPORTED target as SYSTEM (Python headers in pybind11::module).
+# This may be needed to resolve header conflicts, e.g. between Python release and debug headers.
+set_target_properties(test_installed_target PROPERTIES NO_SYSTEM_FROM_IMPORTED ON)
+
+if(DEFINED Python_EXECUTABLE)
+  set(_Python_EXECUTABLE "${Python_EXECUTABLE}")
+elseif(DEFINED PYTHON_EXECUTABLE)
+  set(_Python_EXECUTABLE "${PYTHON_EXECUTABLE}")
+else()
+  message(FATAL_ERROR "No Python executable defined (should not be possible at this stage)")
+endif()
+
+add_custom_target(
+  check_installed_target
+  ${CMAKE_COMMAND}
+  -E
+  env
+  PYTHONPATH=$<TARGET_FILE_DIR:test_installed_target>
+  ${_Python_EXECUTABLE}
+  ${PROJECT_SOURCE_DIR}/../test.py
+  ${PROJECT_NAME})
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/main.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/main.cpp
new file mode 100644
index 0000000..e30f2c4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/main.cpp
@@ -0,0 +1,6 @@
+#include <pybind11/pybind11.h>
+namespace py = pybind11;
+
+PYBIND11_MODULE(test_cmake_build, m) {
+    m.def("add", [](int i, int j) { return i + j; });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt
new file mode 100644
index 0000000..c7df0cf
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_embed/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.4)
+
+# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# some versions of VS that have a patched CMake 3.11. This forces us to emulate
+# the behavior using the following workaround:
+if(${CMAKE_VERSION} VERSION_LESS 3.18)
+  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
+else()
+  cmake_policy(VERSION 3.18)
+endif()
+
+project(test_subdirectory_embed CXX)
+
+set(PYBIND11_INSTALL
+    ON
+    CACHE BOOL "")
+set(PYBIND11_EXPORT_NAME test_export)
+
+add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11)
+
+# Test basic target functionality
+add_executable(test_subdirectory_embed ../embed.cpp)
+target_link_libraries(test_subdirectory_embed PRIVATE pybind11::embed)
+set_target_properties(test_subdirectory_embed PROPERTIES OUTPUT_NAME test_cmake_build)
+
+add_custom_target(check_subdirectory_embed $<TARGET_FILE:test_subdirectory_embed>
+                                           ${PROJECT_SOURCE_DIR}/../test.py)
+
+# Test custom export group -- PYBIND11_EXPORT_NAME
+add_library(test_embed_lib ../embed.cpp)
+target_link_libraries(test_embed_lib PRIVATE pybind11::embed)
+
+install(
+  TARGETS test_embed_lib
+  EXPORT test_export
+  ARCHIVE DESTINATION bin
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib)
+install(EXPORT test_export DESTINATION lib/cmake/test_export/test_export-Targets.cmake)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt
new file mode 100644
index 0000000..624c600
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_function/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.4)
+
+# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# some versions of VS that have a patched CMake 3.11. This forces us to emulate
+# the behavior using the following workaround:
+if(${CMAKE_VERSION} VERSION_LESS 3.18)
+  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
+else()
+  cmake_policy(VERSION 3.18)
+endif()
+
+project(test_subdirectory_function CXX)
+
+add_subdirectory("${PYBIND11_PROJECT_DIR}" pybind11)
+pybind11_add_module(test_subdirectory_function ../main.cpp)
+set_target_properties(test_subdirectory_function PROPERTIES OUTPUT_NAME test_cmake_build)
+
+if(DEFINED Python_EXECUTABLE)
+  set(_Python_EXECUTABLE "${Python_EXECUTABLE}")
+elseif(DEFINED PYTHON_EXECUTABLE)
+  set(_Python_EXECUTABLE "${PYTHON_EXECUTABLE}")
+else()
+  message(FATAL_ERROR "No Python executable defined (should not be possible at this stage)")
+endif()
+
+add_custom_target(
+  check_subdirectory_function
+  ${CMAKE_COMMAND}
+  -E
+  env
+  PYTHONPATH=$<TARGET_FILE_DIR:test_subdirectory_function>
+  ${_Python_EXECUTABLE}
+  ${PROJECT_SOURCE_DIR}/../test.py
+  ${PROJECT_NAME})
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt
new file mode 100644
index 0000000..2471941
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/subdirectory_target/CMakeLists.txt
@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.4)
+
+# The `cmake_minimum_required(VERSION 3.4...3.18)` syntax does not work with
+# some versions of VS that have a patched CMake 3.11. This forces us to emulate
+# the behavior using the following workaround:
+if(${CMAKE_VERSION} VERSION_LESS 3.18)
+  cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
+else()
+  cmake_policy(VERSION 3.18)
+endif()
+
+project(test_subdirectory_target CXX)
+
+add_subdirectory(${PYBIND11_PROJECT_DIR} pybind11)
+
+add_library(test_subdirectory_target MODULE ../main.cpp)
+set_target_properties(test_subdirectory_target PROPERTIES OUTPUT_NAME test_cmake_build)
+
+target_link_libraries(test_subdirectory_target PRIVATE pybind11::module)
+
+# Make sure result is, for example, test_installed_target.so, not libtest_installed_target.dylib
+pybind11_extension(test_subdirectory_target)
+
+if(DEFINED Python_EXECUTABLE)
+  set(_Python_EXECUTABLE "${Python_EXECUTABLE}")
+elseif(DEFINED PYTHON_EXECUTABLE)
+  set(_Python_EXECUTABLE "${PYTHON_EXECUTABLE}")
+else()
+  message(FATAL_ERROR "No Python executable defined (should not be possible at this stage)")
+endif()
+
+add_custom_target(
+  check_subdirectory_target
+  ${CMAKE_COMMAND}
+  -E
+  env
+  PYTHONPATH=$<TARGET_FILE_DIR:test_subdirectory_target>
+  ${_Python_EXECUTABLE}
+  ${PROJECT_SOURCE_DIR}/../test.py
+  ${PROJECT_NAME})
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/test.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/test.py
new file mode 100644
index 0000000..87ed513
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_cmake_build/test.py
@@ -0,0 +1,6 @@
+# -*- coding: utf-8 -*-
+import sys
+import test_cmake_build
+
+assert test_cmake_build.add(1, 2) == 3
+print("{} imports, runs, and adds: 1 + 2 = 3".format(sys.argv[1]))
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_constants_and_functions.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_constants_and_functions.cpp
new file mode 100644
index 0000000..f607795
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_constants_and_functions.cpp
@@ -0,0 +1,127 @@
+/*
+    tests/test_constants_and_functions.cpp -- global constants and functions, enumerations, raw byte strings
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+enum MyEnum { EFirstEntry = 1, ESecondEntry };
+
+std::string test_function1() {
+    return "test_function()";
+}
+
+std::string test_function2(MyEnum k) {
+    return "test_function(enum=" + std::to_string(k) + ")";
+}
+
+std::string test_function3(int i) {
+    return "test_function(" + std::to_string(i) + ")";
+}
+
+py::str test_function4()           { return "test_function()"; }
+py::str test_function4(char *)     { return "test_function(char *)"; }
+py::str test_function4(int, float) { return "test_function(int, float)"; }
+py::str test_function4(float, int) { return "test_function(float, int)"; }
+
+py::bytes return_bytes() {
+    const char *data = "\x01\x00\x02\x00";
+    return std::string(data, 4);
+}
+
+std::string print_bytes(py::bytes bytes) {
+    std::string ret = "bytes[";
+    const auto value = static_cast<std::string>(bytes);
+    for (size_t i = 0; i < value.length(); ++i) {
+        ret += std::to_string(static_cast<int>(value[i])) + " ";
+    }
+    ret.back() = ']';
+    return ret;
+}
+
+// Test that we properly handle C++17 exception specifiers (which are part of the function signature
+// in C++17).  These should all still work before C++17, but don't affect the function signature.
+namespace test_exc_sp {
+int f1(int x) noexcept { return x+1; }
+int f2(int x) noexcept(true) { return x+2; }
+int f3(int x) noexcept(false) { return x+3; }
+#if defined(__GNUG__)
+#  pragma GCC diagnostic push
+#  pragma GCC diagnostic ignored "-Wdeprecated"
+#endif
+int f4(int x) throw() { return x+4; } // Deprecated equivalent to noexcept(true)
+#if defined(__GNUG__)
+#  pragma GCC diagnostic pop
+#endif
+struct C {
+    int m1(int x) noexcept { return x-1; }
+    int m2(int x) const noexcept { return x-2; }
+    int m3(int x) noexcept(true) { return x-3; }
+    int m4(int x) const noexcept(true) { return x-4; }
+    int m5(int x) noexcept(false) { return x-5; }
+    int m6(int x) const noexcept(false) { return x-6; }
+#if defined(__GNUG__)
+#  pragma GCC diagnostic push
+#  pragma GCC diagnostic ignored "-Wdeprecated"
+#endif
+    int m7(int x) throw() { return x-7; }
+    int m8(int x) const throw() { return x-8; }
+#if defined(__GNUG__)
+#  pragma GCC diagnostic pop
+#endif
+};
+} // namespace test_exc_sp
+
+
+TEST_SUBMODULE(constants_and_functions, m) {
+    // test_constants
+    m.attr("some_constant") = py::int_(14);
+
+    // test_function_overloading
+    m.def("test_function", &test_function1);
+    m.def("test_function", &test_function2);
+    m.def("test_function", &test_function3);
+
+#if defined(PYBIND11_OVERLOAD_CAST)
+    m.def("test_function", py::overload_cast<>(&test_function4));
+    m.def("test_function", py::overload_cast<char *>(&test_function4));
+    m.def("test_function", py::overload_cast<int, float>(&test_function4));
+    m.def("test_function", py::overload_cast<float, int>(&test_function4));
+#else
+    m.def("test_function", static_cast<py::str (*)()>(&test_function4));
+    m.def("test_function", static_cast<py::str (*)(char *)>(&test_function4));
+    m.def("test_function", static_cast<py::str (*)(int, float)>(&test_function4));
+    m.def("test_function", static_cast<py::str (*)(float, int)>(&test_function4));
+#endif
+
+    py::enum_<MyEnum>(m, "MyEnum")
+        .value("EFirstEntry", EFirstEntry)
+        .value("ESecondEntry", ESecondEntry)
+        .export_values();
+
+    // test_bytes
+    m.def("return_bytes", &return_bytes);
+    m.def("print_bytes", &print_bytes);
+
+    // test_exception_specifiers
+    using namespace test_exc_sp;
+    py::class_<C>(m, "C")
+        .def(py::init<>())
+        .def("m1", &C::m1)
+        .def("m2", &C::m2)
+        .def("m3", &C::m3)
+        .def("m4", &C::m4)
+        .def("m5", &C::m5)
+        .def("m6", &C::m6)
+        .def("m7", &C::m7)
+        .def("m8", &C::m8)
+        ;
+    m.def("f1", f1);
+    m.def("f2", f2);
+    m.def("f3", f3);
+    m.def("f4", f4);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_constants_and_functions.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_constants_and_functions.py
new file mode 100644
index 0000000..b980ccf
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_constants_and_functions.py
@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+m = pytest.importorskip("pybind11_tests.constants_and_functions")
+
+
+def test_constants():
+    assert m.some_constant == 14
+
+
+def test_function_overloading():
+    assert m.test_function() == "test_function()"
+    assert m.test_function(7) == "test_function(7)"
+    assert m.test_function(m.MyEnum.EFirstEntry) == "test_function(enum=1)"
+    assert m.test_function(m.MyEnum.ESecondEntry) == "test_function(enum=2)"
+
+    assert m.test_function() == "test_function()"
+    assert m.test_function("abcd") == "test_function(char *)"
+    assert m.test_function(1, 1.0) == "test_function(int, float)"
+    assert m.test_function(1, 1.0) == "test_function(int, float)"
+    assert m.test_function(2.0, 2) == "test_function(float, int)"
+
+
+def test_bytes():
+    assert m.print_bytes(m.return_bytes()) == "bytes[1 0 2 0]"
+
+
+def test_exception_specifiers():
+    c = m.C()
+    assert c.m1(2) == 1
+    assert c.m2(3) == 1
+    assert c.m3(5) == 2
+    assert c.m4(7) == 3
+    assert c.m5(10) == 5
+    assert c.m6(14) == 8
+    assert c.m7(20) == 13
+    assert c.m8(29) == 21
+
+    assert m.f1(33) == 34
+    assert m.f2(53) == 55
+    assert m.f3(86) == 89
+    assert m.f4(140) == 144
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.cpp
new file mode 100644
index 0000000..05d5c47
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.cpp
@@ -0,0 +1,219 @@
+/*
+    tests/test_copy_move_policies.cpp -- 'copy' and 'move' return value policies
+                                         and related tests
+
+    Copyright (c) 2016 Ben North <ben@redfrontdoor.org>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/stl.h>
+
+template <typename derived>
+struct empty {
+    static const derived& get_one() { return instance_; }
+    static derived instance_;
+};
+
+struct lacking_copy_ctor : public empty<lacking_copy_ctor> {
+    lacking_copy_ctor() = default;
+    lacking_copy_ctor(const lacking_copy_ctor& other) = delete;
+};
+
+template <> lacking_copy_ctor empty<lacking_copy_ctor>::instance_ = {};
+
+struct lacking_move_ctor : public empty<lacking_move_ctor> {
+    lacking_move_ctor() = default;
+    lacking_move_ctor(const lacking_move_ctor& other) = delete;
+    lacking_move_ctor(lacking_move_ctor&& other) = delete;
+};
+
+template <> lacking_move_ctor empty<lacking_move_ctor>::instance_ = {};
+
+/* Custom type caster move/copy test classes */
+class MoveOnlyInt {
+public:
+    MoveOnlyInt() { print_default_created(this); }
+    MoveOnlyInt(int v) : value{std::move(v)} { print_created(this, value); }
+    MoveOnlyInt(MoveOnlyInt &&m) { print_move_created(this, m.value); std::swap(value, m.value); }
+    MoveOnlyInt &operator=(MoveOnlyInt &&m) { print_move_assigned(this, m.value); std::swap(value, m.value); return *this; }
+    MoveOnlyInt(const MoveOnlyInt &) = delete;
+    MoveOnlyInt &operator=(const MoveOnlyInt &) = delete;
+    ~MoveOnlyInt() { print_destroyed(this); }
+
+    int value;
+};
+class MoveOrCopyInt {
+public:
+    MoveOrCopyInt() { print_default_created(this); }
+    MoveOrCopyInt(int v) : value{std::move(v)} { print_created(this, value); }
+    MoveOrCopyInt(MoveOrCopyInt &&m) { print_move_created(this, m.value); std::swap(value, m.value); }
+    MoveOrCopyInt &operator=(MoveOrCopyInt &&m) { print_move_assigned(this, m.value); std::swap(value, m.value); return *this; }
+    MoveOrCopyInt(const MoveOrCopyInt &c) { print_copy_created(this, c.value); value = c.value; }
+    MoveOrCopyInt &operator=(const MoveOrCopyInt &c) { print_copy_assigned(this, c.value); value = c.value; return *this; }
+    ~MoveOrCopyInt() { print_destroyed(this); }
+
+    int value;
+};
+class CopyOnlyInt {
+public:
+    CopyOnlyInt() { print_default_created(this); }
+    CopyOnlyInt(int v) : value{std::move(v)} { print_created(this, value); }
+    CopyOnlyInt(const CopyOnlyInt &c) { print_copy_created(this, c.value); value = c.value; }
+    CopyOnlyInt &operator=(const CopyOnlyInt &c) { print_copy_assigned(this, c.value); value = c.value; return *this; }
+    ~CopyOnlyInt() { print_destroyed(this); }
+
+    int value;
+};
+PYBIND11_NAMESPACE_BEGIN(pybind11)
+PYBIND11_NAMESPACE_BEGIN(detail)
+template <> struct type_caster<MoveOnlyInt> {
+    PYBIND11_TYPE_CASTER(MoveOnlyInt, _("MoveOnlyInt"));
+    bool load(handle src, bool) { value = MoveOnlyInt(src.cast<int>()); return true; }
+    static handle cast(const MoveOnlyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); }
+};
+
+template <> struct type_caster<MoveOrCopyInt> {
+    PYBIND11_TYPE_CASTER(MoveOrCopyInt, _("MoveOrCopyInt"));
+    bool load(handle src, bool) { value = MoveOrCopyInt(src.cast<int>()); return true; }
+    static handle cast(const MoveOrCopyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); }
+};
+
+template <> struct type_caster<CopyOnlyInt> {
+protected:
+    CopyOnlyInt value;
+public:
+    static constexpr auto name = _("CopyOnlyInt");
+    bool load(handle src, bool) { value = CopyOnlyInt(src.cast<int>()); return true; }
+    static handle cast(const CopyOnlyInt &m, return_value_policy r, handle p) { return pybind11::cast(m.value, r, p); }
+    static handle cast(const CopyOnlyInt *src, return_value_policy policy, handle parent) {
+        if (!src) return none().release();
+        return cast(*src, policy, parent);
+    }
+    operator CopyOnlyInt*() { return &value; }
+    operator CopyOnlyInt&() { return value; }
+    template <typename T> using cast_op_type = pybind11::detail::cast_op_type<T>;
+};
+PYBIND11_NAMESPACE_END(detail)
+PYBIND11_NAMESPACE_END(pybind11)
+
+TEST_SUBMODULE(copy_move_policies, m) {
+    // test_lacking_copy_ctor
+    py::class_<lacking_copy_ctor>(m, "lacking_copy_ctor")
+        .def_static("get_one", &lacking_copy_ctor::get_one,
+                    py::return_value_policy::copy);
+    // test_lacking_move_ctor
+    py::class_<lacking_move_ctor>(m, "lacking_move_ctor")
+        .def_static("get_one", &lacking_move_ctor::get_one,
+                    py::return_value_policy::move);
+
+    // test_move_and_copy_casts
+    m.def("move_and_copy_casts", [](py::object o) {
+        int r = 0;
+        r += py::cast<MoveOrCopyInt>(o).value; /* moves */
+        r += py::cast<MoveOnlyInt>(o).value; /* moves */
+        r += py::cast<CopyOnlyInt>(o).value; /* copies */
+        MoveOrCopyInt m1(py::cast<MoveOrCopyInt>(o)); /* moves */
+        MoveOnlyInt m2(py::cast<MoveOnlyInt>(o)); /* moves */
+        CopyOnlyInt m3(py::cast<CopyOnlyInt>(o)); /* copies */
+        r += m1.value + m2.value + m3.value;
+
+        return r;
+    });
+
+    // test_move_and_copy_loads
+    m.def("move_only", [](MoveOnlyInt m) { return m.value; });
+    m.def("move_or_copy", [](MoveOrCopyInt m) { return m.value; });
+    m.def("copy_only", [](CopyOnlyInt m) { return m.value; });
+    m.def("move_pair", [](std::pair<MoveOnlyInt, MoveOrCopyInt> p) {
+        return p.first.value + p.second.value;
+    });
+    m.def("move_tuple", [](std::tuple<MoveOnlyInt, MoveOrCopyInt, MoveOnlyInt> t) {
+        return std::get<0>(t).value + std::get<1>(t).value + std::get<2>(t).value;
+    });
+    m.def("copy_tuple", [](std::tuple<CopyOnlyInt, CopyOnlyInt> t) {
+        return std::get<0>(t).value + std::get<1>(t).value;
+    });
+    m.def("move_copy_nested", [](std::pair<MoveOnlyInt, std::pair<std::tuple<MoveOrCopyInt, CopyOnlyInt, std::tuple<MoveOnlyInt>>, MoveOrCopyInt>> x) {
+        return x.first.value + std::get<0>(x.second.first).value + std::get<1>(x.second.first).value +
+            std::get<0>(std::get<2>(x.second.first)).value + x.second.second.value;
+    });
+    m.def("move_and_copy_cstats", []() {
+        ConstructorStats::gc();
+        // Reset counts to 0 so that previous tests don't affect later ones:
+        auto &mc = ConstructorStats::get<MoveOrCopyInt>();
+        mc.move_assignments = mc.move_constructions = mc.copy_assignments = mc.copy_constructions = 0;
+        auto &mo = ConstructorStats::get<MoveOnlyInt>();
+        mo.move_assignments = mo.move_constructions = mo.copy_assignments = mo.copy_constructions = 0;
+        auto &co = ConstructorStats::get<CopyOnlyInt>();
+        co.move_assignments = co.move_constructions = co.copy_assignments = co.copy_constructions = 0;
+        py::dict d;
+        d["MoveOrCopyInt"] = py::cast(mc, py::return_value_policy::reference);
+        d["MoveOnlyInt"] = py::cast(mo, py::return_value_policy::reference);
+        d["CopyOnlyInt"] = py::cast(co, py::return_value_policy::reference);
+        return d;
+    });
+#ifdef PYBIND11_HAS_OPTIONAL
+    // test_move_and_copy_load_optional
+    m.attr("has_optional") = true;
+    m.def("move_optional", [](std::optional<MoveOnlyInt> o) {
+        return o->value;
+    });
+    m.def("move_or_copy_optional", [](std::optional<MoveOrCopyInt> o) {
+        return o->value;
+    });
+    m.def("copy_optional", [](std::optional<CopyOnlyInt> o) {
+        return o->value;
+    });
+    m.def("move_optional_tuple", [](std::optional<std::tuple<MoveOrCopyInt, MoveOnlyInt, CopyOnlyInt>> x) {
+        return std::get<0>(*x).value + std::get<1>(*x).value + std::get<2>(*x).value;
+    });
+#else
+    m.attr("has_optional") = false;
+#endif
+
+    // #70 compilation issue if operator new is not public - simple body added
+    // but not needed on most compilers; MSVC and nvcc don't like a local
+    // struct not having a method defined when declared, since it can not be
+    // added later.
+    struct PrivateOpNew {
+        int value = 1;
+    private:
+        void *operator new(size_t bytes) {
+            void *ptr = std::malloc(bytes);
+            if (ptr)
+                return ptr;
+            else
+                throw std::bad_alloc{};
+        }
+    };
+    py::class_<PrivateOpNew>(m, "PrivateOpNew").def_readonly("value", &PrivateOpNew::value);
+    m.def("private_op_new_value", []() { return PrivateOpNew(); });
+    m.def("private_op_new_reference", []() -> const PrivateOpNew & {
+        static PrivateOpNew x{};
+        return x;
+    }, py::return_value_policy::reference);
+
+    // test_move_fallback
+    // #389: rvp::move should fall-through to copy on non-movable objects
+    struct MoveIssue1 {
+        int v;
+        MoveIssue1(int v) : v{v} {}
+        MoveIssue1(const MoveIssue1 &c) = default;
+        MoveIssue1(MoveIssue1 &&) = delete;
+    };
+    py::class_<MoveIssue1>(m, "MoveIssue1").def(py::init<int>()).def_readwrite("value", &MoveIssue1::v);
+
+    struct MoveIssue2 {
+        int v;
+        MoveIssue2(int v) : v{v} {}
+        MoveIssue2(MoveIssue2 &&) = default;
+    };
+    py::class_<MoveIssue2>(m, "MoveIssue2").def(py::init<int>()).def_readwrite("value", &MoveIssue2::v);
+
+    m.def("get_moveissue1", [](int i) { return new MoveIssue1(i); }, py::return_value_policy::move);
+    m.def("get_moveissue2", [](int i) { return MoveIssue2(i); }, py::return_value_policy::move);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.py
new file mode 100644
index 0000000..6b53993
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_copy_move.py
@@ -0,0 +1,113 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import copy_move_policies as m
+
+
+def test_lacking_copy_ctor():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.lacking_copy_ctor.get_one()
+    assert "is non-copyable!" in str(excinfo.value)
+
+
+def test_lacking_move_ctor():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.lacking_move_ctor.get_one()
+    assert "is neither movable nor copyable!" in str(excinfo.value)
+
+
+def test_move_and_copy_casts():
+    """Cast some values in C++ via custom type casters and count the number of moves/copies."""
+
+    cstats = m.move_and_copy_cstats()
+    c_m, c_mc, c_c = cstats["MoveOnlyInt"], cstats["MoveOrCopyInt"], cstats["CopyOnlyInt"]
+
+    # The type move constructions/assignments below each get incremented: the move assignment comes
+    # from the type_caster load; the move construction happens when extracting that via a cast or
+    # loading into an argument.
+    assert m.move_and_copy_casts(3) == 18
+    assert c_m.copy_assignments + c_m.copy_constructions == 0
+    assert c_m.move_assignments == 2
+    assert c_m.move_constructions >= 2
+    assert c_mc.alive() == 0
+    assert c_mc.copy_assignments + c_mc.copy_constructions == 0
+    assert c_mc.move_assignments == 2
+    assert c_mc.move_constructions >= 2
+    assert c_c.alive() == 0
+    assert c_c.copy_assignments == 2
+    assert c_c.copy_constructions >= 2
+    assert c_m.alive() + c_mc.alive() + c_c.alive() == 0
+
+
+def test_move_and_copy_loads():
+    """Call some functions that load arguments via custom type casters and count the number of
+    moves/copies."""
+
+    cstats = m.move_and_copy_cstats()
+    c_m, c_mc, c_c = cstats["MoveOnlyInt"], cstats["MoveOrCopyInt"], cstats["CopyOnlyInt"]
+
+    assert m.move_only(10) == 10  # 1 move, c_m
+    assert m.move_or_copy(11) == 11  # 1 move, c_mc
+    assert m.copy_only(12) == 12  # 1 copy, c_c
+    assert m.move_pair((13, 14)) == 27  # 1 c_m move, 1 c_mc move
+    assert m.move_tuple((15, 16, 17)) == 48  # 2 c_m moves, 1 c_mc move
+    assert m.copy_tuple((18, 19)) == 37  # 2 c_c copies
+    # Direct constructions: 2 c_m moves, 2 c_mc moves, 1 c_c copy
+    # Extra moves/copies when moving pairs/tuples: 3 c_m, 3 c_mc, 2 c_c
+    assert m.move_copy_nested((1, ((2, 3, (4,)), 5))) == 15
+
+    assert c_m.copy_assignments + c_m.copy_constructions == 0
+    assert c_m.move_assignments == 6
+    assert c_m.move_constructions == 9
+    assert c_mc.copy_assignments + c_mc.copy_constructions == 0
+    assert c_mc.move_assignments == 5
+    assert c_mc.move_constructions == 8
+    assert c_c.copy_assignments == 4
+    assert c_c.copy_constructions == 6
+    assert c_m.alive() + c_mc.alive() + c_c.alive() == 0
+
+
+@pytest.mark.skipif(not m.has_optional, reason='no <optional>')
+def test_move_and_copy_load_optional():
+    """Tests move/copy loads of std::optional arguments"""
+
+    cstats = m.move_and_copy_cstats()
+    c_m, c_mc, c_c = cstats["MoveOnlyInt"], cstats["MoveOrCopyInt"], cstats["CopyOnlyInt"]
+
+    # The extra move/copy constructions below come from the std::optional move (which has to move
+    # its arguments):
+    assert m.move_optional(10) == 10  # c_m: 1 move assign, 2 move construct
+    assert m.move_or_copy_optional(11) == 11  # c_mc: 1 move assign, 2 move construct
+    assert m.copy_optional(12) == 12  # c_c: 1 copy assign, 2 copy construct
+    # 1 move assign + move construct moves each of c_m, c_mc, 1 c_c copy
+    # +1 move/copy construct each from moving the tuple
+    # +1 move/copy construct each from moving the optional (which moves the tuple again)
+    assert m.move_optional_tuple((3, 4, 5)) == 12
+
+    assert c_m.copy_assignments + c_m.copy_constructions == 0
+    assert c_m.move_assignments == 2
+    assert c_m.move_constructions == 5
+    assert c_mc.copy_assignments + c_mc.copy_constructions == 0
+    assert c_mc.move_assignments == 2
+    assert c_mc.move_constructions == 5
+    assert c_c.copy_assignments == 2
+    assert c_c.copy_constructions == 5
+    assert c_m.alive() + c_mc.alive() + c_c.alive() == 0
+
+
+def test_private_op_new():
+    """An object with a private `operator new` cannot be returned by value"""
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.private_op_new_value()
+    assert "is neither movable nor copyable" in str(excinfo.value)
+
+    assert m.private_op_new_reference().value == 1
+
+
+def test_move_fallback():
+    """#389: rvp::move should fall-through to copy on non-movable objects"""
+
+    m2 = m.get_moveissue2(2)
+    assert m2.value == 2
+    m1 = m.get_moveissue1(1)
+    assert m1.value == 1
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_custom_type_casters.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_custom_type_casters.cpp
new file mode 100644
index 0000000..d565add
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_custom_type_casters.cpp
@@ -0,0 +1,127 @@
+/*
+    tests/test_custom_type_casters.cpp -- tests type_caster<T>
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+
+
+// py::arg/py::arg_v testing: these arguments just record their argument when invoked
+class ArgInspector1 { public: std::string arg = "(default arg inspector 1)"; };
+class ArgInspector2 { public: std::string arg = "(default arg inspector 2)"; };
+class ArgAlwaysConverts { };
+namespace pybind11 { namespace detail {
+template <> struct type_caster<ArgInspector1> {
+public:
+    PYBIND11_TYPE_CASTER(ArgInspector1, _("ArgInspector1"));
+
+    bool load(handle src, bool convert) {
+        value.arg = "loading ArgInspector1 argument " +
+            std::string(convert ? "WITH" : "WITHOUT") + " conversion allowed.  "
+            "Argument value = " + (std::string) str(src);
+        return true;
+    }
+
+    static handle cast(const ArgInspector1 &src, return_value_policy, handle) {
+        return str(src.arg).release();
+    }
+};
+template <> struct type_caster<ArgInspector2> {
+public:
+    PYBIND11_TYPE_CASTER(ArgInspector2, _("ArgInspector2"));
+
+    bool load(handle src, bool convert) {
+        value.arg = "loading ArgInspector2 argument " +
+            std::string(convert ? "WITH" : "WITHOUT") + " conversion allowed.  "
+            "Argument value = " + (std::string) str(src);
+        return true;
+    }
+
+    static handle cast(const ArgInspector2 &src, return_value_policy, handle) {
+        return str(src.arg).release();
+    }
+};
+template <> struct type_caster<ArgAlwaysConverts> {
+public:
+    PYBIND11_TYPE_CASTER(ArgAlwaysConverts, _("ArgAlwaysConverts"));
+
+    bool load(handle, bool convert) {
+        return convert;
+    }
+
+    static handle cast(const ArgAlwaysConverts &, return_value_policy, handle) {
+        return py::none().release();
+    }
+};
+} // namespace detail
+} // namespace pybind11
+
+// test_custom_caster_destruction
+class DestructionTester {
+public:
+    DestructionTester() { print_default_created(this); }
+    ~DestructionTester() { print_destroyed(this); }
+    DestructionTester(const DestructionTester &) { print_copy_created(this); }
+    DestructionTester(DestructionTester &&) { print_move_created(this); }
+    DestructionTester &operator=(const DestructionTester &) { print_copy_assigned(this); return *this; }
+    DestructionTester &operator=(DestructionTester &&) { print_move_assigned(this); return *this; }
+};
+namespace pybind11 { namespace detail {
+template <> struct type_caster<DestructionTester> {
+    PYBIND11_TYPE_CASTER(DestructionTester, _("DestructionTester"));
+    bool load(handle, bool) { return true; }
+
+    static handle cast(const DestructionTester &, return_value_policy, handle) {
+        return py::bool_(true).release();
+    }
+};
+} // namespace detail
+} // namespace pybind11
+
+TEST_SUBMODULE(custom_type_casters, m) {
+    // test_custom_type_casters
+
+    // test_noconvert_args
+    //
+    // Test converting.  The ArgAlwaysConverts is just there to make the first no-conversion pass
+    // fail so that our call always ends up happening via the second dispatch (the one that allows
+    // some conversion).
+    class ArgInspector {
+    public:
+        ArgInspector1 f(ArgInspector1 a, ArgAlwaysConverts) { return a; }
+        std::string g(ArgInspector1 a, const ArgInspector1 &b, int c, ArgInspector2 *d, ArgAlwaysConverts) {
+            return a.arg + "\n" + b.arg + "\n" + std::to_string(c) + "\n" + d->arg;
+        }
+        static ArgInspector2 h(ArgInspector2 a, ArgAlwaysConverts) { return a; }
+    };
+    py::class_<ArgInspector>(m, "ArgInspector")
+        .def(py::init<>())
+        .def("f", &ArgInspector::f, py::arg(), py::arg() = ArgAlwaysConverts())
+        .def("g", &ArgInspector::g, "a"_a.noconvert(), "b"_a, "c"_a.noconvert()=13, "d"_a=ArgInspector2(), py::arg() = ArgAlwaysConverts())
+        .def_static("h", &ArgInspector::h, py::arg().noconvert(), py::arg() = ArgAlwaysConverts())
+        ;
+    m.def("arg_inspect_func", [](ArgInspector2 a, ArgInspector1 b, ArgAlwaysConverts) { return a.arg + "\n" + b.arg; },
+            py::arg().noconvert(false), py::arg_v(nullptr, ArgInspector1()).noconvert(true), py::arg() = ArgAlwaysConverts());
+
+    m.def("floats_preferred", [](double f) { return 0.5 * f; }, py::arg("f"));
+    m.def("floats_only", [](double f) { return 0.5 * f; }, py::arg("f").noconvert());
+    m.def("ints_preferred", [](int i) { return i / 2; }, py::arg("i"));
+    m.def("ints_only", [](int i) { return i / 2; }, py::arg("i").noconvert());
+
+    // test_custom_caster_destruction
+    // Test that `take_ownership` works on types with a custom type caster when given a pointer
+
+    // default policy: don't take ownership:
+    m.def("custom_caster_no_destroy", []() { static auto *dt = new DestructionTester(); return dt; });
+
+    m.def("custom_caster_destroy", []() { return new DestructionTester(); },
+            py::return_value_policy::take_ownership); // Takes ownership: destroy when finished
+    m.def("custom_caster_destroy_const", []() -> const DestructionTester * { return new DestructionTester(); },
+            py::return_value_policy::take_ownership); // Likewise (const doesn't inhibit destruction)
+    m.def("destruction_tester_cstats", &ConstructorStats::get<DestructionTester>, py::return_value_policy::reference);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_custom_type_casters.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_custom_type_casters.py
new file mode 100644
index 0000000..9475c45
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_custom_type_casters.py
@@ -0,0 +1,90 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import custom_type_casters as m
+
+
+def test_noconvert_args(msg):
+    a = m.ArgInspector()
+    assert msg(a.f("hi")) == """
+        loading ArgInspector1 argument WITH conversion allowed.  Argument value = hi
+    """
+    assert msg(a.g("this is a", "this is b")) == """
+        loading ArgInspector1 argument WITHOUT conversion allowed.  Argument value = this is a
+        loading ArgInspector1 argument WITH conversion allowed.  Argument value = this is b
+        13
+        loading ArgInspector2 argument WITH conversion allowed.  Argument value = (default arg inspector 2)
+    """  # noqa: E501 line too long
+    assert msg(a.g("this is a", "this is b", 42)) == """
+        loading ArgInspector1 argument WITHOUT conversion allowed.  Argument value = this is a
+        loading ArgInspector1 argument WITH conversion allowed.  Argument value = this is b
+        42
+        loading ArgInspector2 argument WITH conversion allowed.  Argument value = (default arg inspector 2)
+    """  # noqa: E501 line too long
+    assert msg(a.g("this is a", "this is b", 42, "this is d")) == """
+        loading ArgInspector1 argument WITHOUT conversion allowed.  Argument value = this is a
+        loading ArgInspector1 argument WITH conversion allowed.  Argument value = this is b
+        42
+        loading ArgInspector2 argument WITH conversion allowed.  Argument value = this is d
+    """
+    assert (a.h("arg 1") ==
+            "loading ArgInspector2 argument WITHOUT conversion allowed.  Argument value = arg 1")
+    assert msg(m.arg_inspect_func("A1", "A2")) == """
+        loading ArgInspector2 argument WITH conversion allowed.  Argument value = A1
+        loading ArgInspector1 argument WITHOUT conversion allowed.  Argument value = A2
+    """
+
+    assert m.floats_preferred(4) == 2.0
+    assert m.floats_only(4.0) == 2.0
+    with pytest.raises(TypeError) as excinfo:
+        m.floats_only(4)
+    assert msg(excinfo.value) == """
+        floats_only(): incompatible function arguments. The following argument types are supported:
+            1. (f: float) -> float
+
+        Invoked with: 4
+    """
+
+    assert m.ints_preferred(4) == 2
+    assert m.ints_preferred(True) == 0
+    with pytest.raises(TypeError) as excinfo:
+        m.ints_preferred(4.0)
+    assert msg(excinfo.value) == """
+        ints_preferred(): incompatible function arguments. The following argument types are supported:
+            1. (i: int) -> int
+
+        Invoked with: 4.0
+    """  # noqa: E501 line too long
+
+    assert m.ints_only(4) == 2
+    with pytest.raises(TypeError) as excinfo:
+        m.ints_only(4.0)
+    assert msg(excinfo.value) == """
+        ints_only(): incompatible function arguments. The following argument types are supported:
+            1. (i: int) -> int
+
+        Invoked with: 4.0
+    """
+
+
+def test_custom_caster_destruction():
+    """Tests that returning a pointer to a type that gets converted with a custom type caster gets
+    destroyed when the function has py::return_value_policy::take_ownership policy applied."""
+
+    cstats = m.destruction_tester_cstats()
+    # This one *doesn't* have take_ownership: the pointer should be used but not destroyed:
+    z = m.custom_caster_no_destroy()
+    assert cstats.alive() == 1 and cstats.default_constructions == 1
+    assert z
+
+    # take_ownership applied: this constructs a new object, casts it, then destroys it:
+    z = m.custom_caster_destroy()
+    assert z
+    assert cstats.default_constructions == 2
+
+    # Same, but with a const pointer return (which should *not* inhibit destruction):
+    z = m.custom_caster_destroy_const()
+    assert z
+    assert cstats.default_constructions == 3
+
+    # Make sure we still only have the original object (from ..._no_destroy()) alive:
+    assert cstats.alive() == 1
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_docstring_options.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_docstring_options.cpp
new file mode 100644
index 0000000..8c8f79f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_docstring_options.cpp
@@ -0,0 +1,61 @@
+/*
+    tests/test_docstring_options.cpp -- generation of docstrings and signatures
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+TEST_SUBMODULE(docstring_options, m) {
+    // test_docstring_options
+    {
+        py::options options;
+        options.disable_function_signatures();
+
+        m.def("test_function1", [](int, int) {}, py::arg("a"), py::arg("b"));
+        m.def("test_function2", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+
+        m.def("test_overloaded1", [](int) {}, py::arg("i"), "Overload docstring");
+        m.def("test_overloaded1", [](double) {}, py::arg("d"));
+
+        m.def("test_overloaded2", [](int) {}, py::arg("i"), "overload docstring 1");
+        m.def("test_overloaded2", [](double) {}, py::arg("d"), "overload docstring 2");
+
+        m.def("test_overloaded3", [](int) {}, py::arg("i"));
+        m.def("test_overloaded3", [](double) {}, py::arg("d"), "Overload docstr");
+
+        options.enable_function_signatures();
+
+        m.def("test_function3", [](int, int) {}, py::arg("a"), py::arg("b"));
+        m.def("test_function4", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+
+        options.disable_function_signatures().disable_user_defined_docstrings();
+
+        m.def("test_function5", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+
+        {
+            py::options nested_options;
+            nested_options.enable_user_defined_docstrings();
+            m.def("test_function6", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+        }
+    }
+
+    m.def("test_function7", [](int, int) {}, py::arg("a"), py::arg("b"), "A custom docstring");
+
+    {
+        py::options options;
+        options.disable_user_defined_docstrings();
+
+        struct DocstringTestFoo {
+            int value;
+            void setValue(int v) { value = v; }
+            int getValue() const { return value; }
+        };
+        py::class_<DocstringTestFoo>(m, "DocstringTestFoo", "This is a class docstring")
+            .def_property("value_prop", &DocstringTestFoo::getValue, &DocstringTestFoo::setValue, "This is a property docstring")
+        ;
+    }
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_docstring_options.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_docstring_options.py
new file mode 100644
index 0000000..80ade0f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_docstring_options.py
@@ -0,0 +1,39 @@
+# -*- coding: utf-8 -*-
+from pybind11_tests import docstring_options as m
+
+
+def test_docstring_options():
+    # options.disable_function_signatures()
+    assert not m.test_function1.__doc__
+
+    assert m.test_function2.__doc__ == "A custom docstring"
+
+    # docstring specified on just the first overload definition:
+    assert m.test_overloaded1.__doc__ == "Overload docstring"
+
+    # docstring on both overloads:
+    assert m.test_overloaded2.__doc__ == "overload docstring 1\noverload docstring 2"
+
+    # docstring on only second overload:
+    assert m.test_overloaded3.__doc__ == "Overload docstr"
+
+    # options.enable_function_signatures()
+    assert m.test_function3.__doc__ .startswith("test_function3(a: int, b: int) -> None")
+
+    assert m.test_function4.__doc__ .startswith("test_function4(a: int, b: int) -> None")
+    assert m.test_function4.__doc__ .endswith("A custom docstring\n")
+
+    # options.disable_function_signatures()
+    # options.disable_user_defined_docstrings()
+    assert not m.test_function5.__doc__
+
+    # nested options.enable_user_defined_docstrings()
+    assert m.test_function6.__doc__ == "A custom docstring"
+
+    # RAII destructor
+    assert m.test_function7.__doc__ .startswith("test_function7(a: int, b: int) -> None")
+    assert m.test_function7.__doc__ .endswith("A custom docstring\n")
+
+    # Suppression of user-defined docstrings for non-function objects
+    assert not m.DocstringTestFoo.__doc__
+    assert not m.DocstringTestFoo.value_prop.__doc__
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.cpp
new file mode 100644
index 0000000..807d0a3
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.cpp
@@ -0,0 +1,327 @@
+/*
+    tests/eigen.cpp -- automatic conversion of Eigen types
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/eigen.h>
+#include <pybind11/stl.h>
+
+#if defined(_MSC_VER)
+#  pragma warning(disable: 4996) // C4996: std::unary_negation is deprecated
+#endif
+
+#include <Eigen/Cholesky>
+
+using MatrixXdR = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+
+
+
+// Sets/resets a testing reference matrix to have values of 10*r + c, where r and c are the
+// (1-based) row/column number.
+template <typename M> void reset_ref(M &x) {
+    for (int i = 0; i < x.rows(); i++) for (int j = 0; j < x.cols(); j++)
+        x(i, j) = 11 + 10*i + j;
+}
+
+// Returns a static, column-major matrix
+Eigen::MatrixXd &get_cm() {
+    static Eigen::MatrixXd *x;
+    if (!x) {
+        x = new Eigen::MatrixXd(3, 3);
+        reset_ref(*x);
+    }
+    return *x;
+}
+// Likewise, but row-major
+MatrixXdR &get_rm() {
+    static MatrixXdR *x;
+    if (!x) {
+        x = new MatrixXdR(3, 3);
+        reset_ref(*x);
+    }
+    return *x;
+}
+// Resets the values of the static matrices returned by get_cm()/get_rm()
+void reset_refs() {
+    reset_ref(get_cm());
+    reset_ref(get_rm());
+}
+
+// Returns element 2,1 from a matrix (used to test copy/nocopy)
+double get_elem(Eigen::Ref<const Eigen::MatrixXd> m) { return m(2, 1); };
+
+
+// Returns a matrix with 10*r + 100*c added to each matrix element (to help test that the matrix
+// reference is referencing rows/columns correctly).
+template <typename MatrixArgType> Eigen::MatrixXd adjust_matrix(MatrixArgType m) {
+    Eigen::MatrixXd ret(m);
+    for (int c = 0; c < m.cols(); c++) for (int r = 0; r < m.rows(); r++)
+        ret(r, c) += 10*r + 100*c;
+    return ret;
+}
+
+struct CustomOperatorNew {
+    CustomOperatorNew() = default;
+
+    Eigen::Matrix4d a = Eigen::Matrix4d::Zero();
+    Eigen::Matrix4d b = Eigen::Matrix4d::Identity();
+
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
+};
+
+TEST_SUBMODULE(eigen, m) {
+    using FixedMatrixR = Eigen::Matrix<float, 5, 6, Eigen::RowMajor>;
+    using FixedMatrixC = Eigen::Matrix<float, 5, 6>;
+    using DenseMatrixR = Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>;
+    using DenseMatrixC = Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic>;
+    using FourRowMatrixC = Eigen::Matrix<float, 4, Eigen::Dynamic>;
+    using FourColMatrixC = Eigen::Matrix<float, Eigen::Dynamic, 4>;
+    using FourRowMatrixR = Eigen::Matrix<float, 4, Eigen::Dynamic>;
+    using FourColMatrixR = Eigen::Matrix<float, Eigen::Dynamic, 4>;
+    using SparseMatrixR = Eigen::SparseMatrix<float, Eigen::RowMajor>;
+    using SparseMatrixC = Eigen::SparseMatrix<float>;
+
+    // various tests
+    m.def("double_col", [](const Eigen::VectorXf &x) -> Eigen::VectorXf { return 2.0f * x; });
+    m.def("double_row", [](const Eigen::RowVectorXf &x) -> Eigen::RowVectorXf { return 2.0f * x; });
+    m.def("double_complex", [](const Eigen::VectorXcf &x) -> Eigen::VectorXcf { return 2.0f * x; });
+    m.def("double_threec", [](py::EigenDRef<Eigen::Vector3f> x) { x *= 2; });
+    m.def("double_threer", [](py::EigenDRef<Eigen::RowVector3f> x) { x *= 2; });
+    m.def("double_mat_cm", [](Eigen::MatrixXf x) -> Eigen::MatrixXf { return 2.0f * x; });
+    m.def("double_mat_rm", [](DenseMatrixR x) -> DenseMatrixR { return 2.0f * x; });
+
+    // test_eigen_ref_to_python
+    // Different ways of passing via Eigen::Ref; the first and second are the Eigen-recommended
+    m.def("cholesky1", [](Eigen::Ref<MatrixXdR> x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+    m.def("cholesky2", [](const Eigen::Ref<const MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+    m.def("cholesky3", [](const Eigen::Ref<MatrixXdR> &x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+    m.def("cholesky4", [](Eigen::Ref<const MatrixXdR> x) -> Eigen::MatrixXd { return x.llt().matrixL(); });
+
+    // test_eigen_ref_mutators
+    // Mutators: these add some value to the given element using Eigen, but Eigen should be mapping into
+    // the numpy array data and so the result should show up there.  There are three versions: one that
+    // works on a contiguous-row matrix (numpy's default), one for a contiguous-column matrix, and one
+    // for any matrix.
+    auto add_rm = [](Eigen::Ref<MatrixXdR> x, int r, int c, double v) { x(r,c) += v; };
+    auto add_cm = [](Eigen::Ref<Eigen::MatrixXd> x, int r, int c, double v) { x(r,c) += v; };
+
+    // Mutators (Eigen maps into numpy variables):
+    m.def("add_rm", add_rm); // Only takes row-contiguous
+    m.def("add_cm", add_cm); // Only takes column-contiguous
+    // Overloaded versions that will accept either row or column contiguous:
+    m.def("add1", add_rm);
+    m.def("add1", add_cm);
+    m.def("add2", add_cm);
+    m.def("add2", add_rm);
+    // This one accepts a matrix of any stride:
+    m.def("add_any", [](py::EigenDRef<Eigen::MatrixXd> x, int r, int c, double v) { x(r,c) += v; });
+
+    // Return mutable references (numpy maps into eigen variables)
+    m.def("get_cm_ref", []() { return Eigen::Ref<Eigen::MatrixXd>(get_cm()); });
+    m.def("get_rm_ref", []() { return Eigen::Ref<MatrixXdR>(get_rm()); });
+    // The same references, but non-mutable (numpy maps into eigen variables, but is !writeable)
+    m.def("get_cm_const_ref", []() { return Eigen::Ref<const Eigen::MatrixXd>(get_cm()); });
+    m.def("get_rm_const_ref", []() { return Eigen::Ref<const MatrixXdR>(get_rm()); });
+
+    m.def("reset_refs", reset_refs); // Restores get_{cm,rm}_ref to original values
+
+    // Increments and returns ref to (same) matrix
+    m.def("incr_matrix", [](Eigen::Ref<Eigen::MatrixXd> m, double v) {
+        m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
+        return m;
+    }, py::return_value_policy::reference);
+
+    // Same, but accepts a matrix of any strides
+    m.def("incr_matrix_any", [](py::EigenDRef<Eigen::MatrixXd> m, double v) {
+        m += Eigen::MatrixXd::Constant(m.rows(), m.cols(), v);
+        return m;
+    }, py::return_value_policy::reference);
+
+    // Returns an eigen slice of even rows
+    m.def("even_rows", [](py::EigenDRef<Eigen::MatrixXd> m) {
+        return py::EigenDMap<Eigen::MatrixXd>(
+                m.data(), (m.rows() + 1) / 2, m.cols(),
+                py::EigenDStride(m.outerStride(), 2 * m.innerStride()));
+    }, py::return_value_policy::reference);
+
+    // Returns an eigen slice of even columns
+    m.def("even_cols", [](py::EigenDRef<Eigen::MatrixXd> m) {
+        return py::EigenDMap<Eigen::MatrixXd>(
+                m.data(), m.rows(), (m.cols() + 1) / 2,
+                py::EigenDStride(2 * m.outerStride(), m.innerStride()));
+    }, py::return_value_policy::reference);
+
+    // Returns diagonals: a vector-like object with an inner stride != 1
+    m.def("diagonal", [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal(); });
+    m.def("diagonal_1", [](const Eigen::Ref<const Eigen::MatrixXd> &x) { return x.diagonal<1>(); });
+    m.def("diagonal_n", [](const Eigen::Ref<const Eigen::MatrixXd> &x, int index) { return x.diagonal(index); });
+
+    // Return a block of a matrix (gives non-standard strides)
+    m.def("block", [](const Eigen::Ref<const Eigen::MatrixXd> &x, int start_row, int start_col, int block_rows, int block_cols) {
+        return x.block(start_row, start_col, block_rows, block_cols);
+    });
+
+    // test_eigen_return_references, test_eigen_keepalive
+    // return value referencing/copying tests:
+    class ReturnTester {
+        Eigen::MatrixXd mat = create();
+    public:
+        ReturnTester() { print_created(this); }
+        ~ReturnTester() { print_destroyed(this); }
+        static Eigen::MatrixXd create() { return Eigen::MatrixXd::Ones(10, 10); }
+        static const Eigen::MatrixXd createConst() { return Eigen::MatrixXd::Ones(10, 10); }
+        Eigen::MatrixXd &get() { return mat; }
+        Eigen::MatrixXd *getPtr() { return &mat; }
+        const Eigen::MatrixXd &view() { return mat; }
+        const Eigen::MatrixXd *viewPtr() { return &mat; }
+        Eigen::Ref<Eigen::MatrixXd> ref() { return mat; }
+        Eigen::Ref<const Eigen::MatrixXd> refConst() { return mat; }
+        Eigen::Block<Eigen::MatrixXd> block(int r, int c, int nrow, int ncol) { return mat.block(r, c, nrow, ncol); }
+        Eigen::Block<const Eigen::MatrixXd> blockConst(int r, int c, int nrow, int ncol) const { return mat.block(r, c, nrow, ncol); }
+        py::EigenDMap<Eigen::Matrix2d> corners() { return py::EigenDMap<Eigen::Matrix2d>(mat.data(),
+                    py::EigenDStride(mat.outerStride() * (mat.outerSize()-1), mat.innerStride() * (mat.innerSize()-1))); }
+        py::EigenDMap<const Eigen::Matrix2d> cornersConst() const { return py::EigenDMap<const Eigen::Matrix2d>(mat.data(),
+                    py::EigenDStride(mat.outerStride() * (mat.outerSize()-1), mat.innerStride() * (mat.innerSize()-1))); }
+    };
+    using rvp = py::return_value_policy;
+    py::class_<ReturnTester>(m, "ReturnTester")
+        .def(py::init<>())
+        .def_static("create", &ReturnTester::create)
+        .def_static("create_const", &ReturnTester::createConst)
+        .def("get", &ReturnTester::get, rvp::reference_internal)
+        .def("get_ptr", &ReturnTester::getPtr, rvp::reference_internal)
+        .def("view", &ReturnTester::view, rvp::reference_internal)
+        .def("view_ptr", &ReturnTester::view, rvp::reference_internal)
+        .def("copy_get", &ReturnTester::get)   // Default rvp: copy
+        .def("copy_view", &ReturnTester::view) //         "
+        .def("ref", &ReturnTester::ref) // Default for Ref is to reference
+        .def("ref_const", &ReturnTester::refConst) // Likewise, but const
+        .def("ref_safe", &ReturnTester::ref, rvp::reference_internal)
+        .def("ref_const_safe", &ReturnTester::refConst, rvp::reference_internal)
+        .def("copy_ref", &ReturnTester::ref, rvp::copy)
+        .def("copy_ref_const", &ReturnTester::refConst, rvp::copy)
+        .def("block", &ReturnTester::block)
+        .def("block_safe", &ReturnTester::block, rvp::reference_internal)
+        .def("block_const", &ReturnTester::blockConst, rvp::reference_internal)
+        .def("copy_block", &ReturnTester::block, rvp::copy)
+        .def("corners", &ReturnTester::corners, rvp::reference_internal)
+        .def("corners_const", &ReturnTester::cornersConst, rvp::reference_internal)
+        ;
+
+    // test_special_matrix_objects
+    // Returns a DiagonalMatrix with diagonal (1,2,3,...)
+    m.def("incr_diag", [](int k) {
+        Eigen::DiagonalMatrix<int, Eigen::Dynamic> m(k);
+        for (int i = 0; i < k; i++) m.diagonal()[i] = i+1;
+        return m;
+    });
+
+    // Returns a SelfAdjointView referencing the lower triangle of m
+    m.def("symmetric_lower", [](const Eigen::MatrixXi &m) {
+            return m.selfadjointView<Eigen::Lower>();
+    });
+    // Returns a SelfAdjointView referencing the lower triangle of m
+    m.def("symmetric_upper", [](const Eigen::MatrixXi &m) {
+            return m.selfadjointView<Eigen::Upper>();
+    });
+
+    // Test matrix for various functions below.
+    Eigen::MatrixXf mat(5, 6);
+    mat << 0,  3,  0,  0,  0, 11,
+           22, 0,  0,  0, 17, 11,
+           7,  5,  0,  1,  0, 11,
+           0,  0,  0,  0,  0, 11,
+           0,  0, 14,  0,  8, 11;
+
+    // test_fixed, and various other tests
+    m.def("fixed_r", [mat]() -> FixedMatrixR { return FixedMatrixR(mat); });
+    m.def("fixed_r_const", [mat]() -> const FixedMatrixR { return FixedMatrixR(mat); });
+    m.def("fixed_c", [mat]() -> FixedMatrixC { return FixedMatrixC(mat); });
+    m.def("fixed_copy_r", [](const FixedMatrixR &m) -> FixedMatrixR { return m; });
+    m.def("fixed_copy_c", [](const FixedMatrixC &m) -> FixedMatrixC { return m; });
+    // test_mutator_descriptors
+    m.def("fixed_mutator_r", [](Eigen::Ref<FixedMatrixR>) {});
+    m.def("fixed_mutator_c", [](Eigen::Ref<FixedMatrixC>) {});
+    m.def("fixed_mutator_a", [](py::EigenDRef<FixedMatrixC>) {});
+    // test_dense
+    m.def("dense_r", [mat]() -> DenseMatrixR { return DenseMatrixR(mat); });
+    m.def("dense_c", [mat]() -> DenseMatrixC { return DenseMatrixC(mat); });
+    m.def("dense_copy_r", [](const DenseMatrixR &m) -> DenseMatrixR { return m; });
+    m.def("dense_copy_c", [](const DenseMatrixC &m) -> DenseMatrixC { return m; });
+    // test_sparse, test_sparse_signature
+    m.def("sparse_r", [mat]() -> SparseMatrixR { return Eigen::SparseView<Eigen::MatrixXf>(mat); });
+    m.def("sparse_c", [mat]() -> SparseMatrixC { return Eigen::SparseView<Eigen::MatrixXf>(mat); });
+    m.def("sparse_copy_r", [](const SparseMatrixR &m) -> SparseMatrixR { return m; });
+    m.def("sparse_copy_c", [](const SparseMatrixC &m) -> SparseMatrixC { return m; });
+    // test_partially_fixed
+    m.def("partial_copy_four_rm_r", [](const FourRowMatrixR &m) -> FourRowMatrixR { return m; });
+    m.def("partial_copy_four_rm_c", [](const FourColMatrixR &m) -> FourColMatrixR { return m; });
+    m.def("partial_copy_four_cm_r", [](const FourRowMatrixC &m) -> FourRowMatrixC { return m; });
+    m.def("partial_copy_four_cm_c", [](const FourColMatrixC &m) -> FourColMatrixC { return m; });
+
+    // test_cpp_casting
+    // Test that we can cast a numpy object to a Eigen::MatrixXd explicitly
+    m.def("cpp_copy", [](py::handle m) { return m.cast<Eigen::MatrixXd>()(1, 0); });
+    m.def("cpp_ref_c", [](py::handle m) { return m.cast<Eigen::Ref<Eigen::MatrixXd>>()(1, 0); });
+    m.def("cpp_ref_r", [](py::handle m) { return m.cast<Eigen::Ref<MatrixXdR>>()(1, 0); });
+    m.def("cpp_ref_any", [](py::handle m) { return m.cast<py::EigenDRef<Eigen::MatrixXd>>()(1, 0); });
+
+
+    // test_nocopy_wrapper
+    // Test that we can prevent copying into an argument that would normally copy: First a version
+    // that would allow copying (if types or strides don't match) for comparison:
+    m.def("get_elem", &get_elem);
+    // Now this alternative that calls the tells pybind to fail rather than copy:
+    m.def("get_elem_nocopy", [](Eigen::Ref<const Eigen::MatrixXd> m) -> double { return get_elem(m); },
+            py::arg().noconvert());
+    // Also test a row-major-only no-copy const ref:
+    m.def("get_elem_rm_nocopy", [](Eigen::Ref<const Eigen::Matrix<long, -1, -1, Eigen::RowMajor>> &m) -> long { return m(2, 1); },
+            py::arg().noconvert());
+
+    // test_issue738
+    // Issue #738: 1xN or Nx1 2D matrices were neither accepted nor properly copied with an
+    // incompatible stride value on the length-1 dimension--but that should be allowed (without
+    // requiring a copy!) because the stride value can be safely ignored on a size-1 dimension.
+    m.def("iss738_f1", &adjust_matrix<const Eigen::Ref<const Eigen::MatrixXd> &>, py::arg().noconvert());
+    m.def("iss738_f2", &adjust_matrix<const Eigen::Ref<const Eigen::Matrix<double, -1, -1, Eigen::RowMajor>> &>, py::arg().noconvert());
+
+    // test_issue1105
+    // Issue #1105: when converting from a numpy two-dimensional (Nx1) or (1xN) value into a dense
+    // eigen Vector or RowVector, the argument would fail to load because the numpy copy would fail:
+    // numpy won't broadcast a Nx1 into a 1-dimensional vector.
+    m.def("iss1105_col", [](Eigen::VectorXd) { return true; });
+    m.def("iss1105_row", [](Eigen::RowVectorXd) { return true; });
+
+    // test_named_arguments
+    // Make sure named arguments are working properly:
+    m.def("matrix_multiply", [](const py::EigenDRef<const Eigen::MatrixXd> A, const py::EigenDRef<const Eigen::MatrixXd> B)
+            -> Eigen::MatrixXd {
+        if (A.cols() != B.rows()) throw std::domain_error("Nonconformable matrices!");
+        return A * B;
+    }, py::arg("A"), py::arg("B"));
+
+    // test_custom_operator_new
+    py::class_<CustomOperatorNew>(m, "CustomOperatorNew")
+        .def(py::init<>())
+        .def_readonly("a", &CustomOperatorNew::a)
+        .def_readonly("b", &CustomOperatorNew::b);
+
+    // test_eigen_ref_life_support
+    // In case of a failure (the caster's temp array does not live long enough), creating
+    // a new array (np.ones(10)) increases the chances that the temp array will be garbage
+    // collected and/or that its memory will be overridden with different values.
+    m.def("get_elem_direct", [](Eigen::Ref<const Eigen::VectorXd> v) {
+        py::module_::import("numpy").attr("ones")(10);
+        return v(5);
+    });
+    m.def("get_elem_indirect", [](std::vector<Eigen::Ref<const Eigen::VectorXd>> v) {
+        py::module_::import("numpy").attr("ones")(10);
+        return v[0](5);
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.py
new file mode 100644
index 0000000..ac68471
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eigen.py
@@ -0,0 +1,697 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import ConstructorStats
+
+np = pytest.importorskip("numpy")
+m = pytest.importorskip("pybind11_tests.eigen")
+
+
+ref = np.array([[ 0.,  3,  0,  0,  0, 11],
+                [22,  0,  0,  0, 17, 11],
+                [ 7,  5,  0,  1,  0, 11],
+                [ 0,  0,  0,  0,  0, 11],
+                [ 0,  0, 14,  0,  8, 11]])
+
+
+def assert_equal_ref(mat):
+    np.testing.assert_array_equal(mat, ref)
+
+
+def assert_sparse_equal_ref(sparse_mat):
+    assert_equal_ref(sparse_mat.toarray())
+
+
+def test_fixed():
+    assert_equal_ref(m.fixed_c())
+    assert_equal_ref(m.fixed_r())
+    assert_equal_ref(m.fixed_copy_r(m.fixed_r()))
+    assert_equal_ref(m.fixed_copy_c(m.fixed_c()))
+    assert_equal_ref(m.fixed_copy_r(m.fixed_c()))
+    assert_equal_ref(m.fixed_copy_c(m.fixed_r()))
+
+
+def test_dense():
+    assert_equal_ref(m.dense_r())
+    assert_equal_ref(m.dense_c())
+    assert_equal_ref(m.dense_copy_r(m.dense_r()))
+    assert_equal_ref(m.dense_copy_c(m.dense_c()))
+    assert_equal_ref(m.dense_copy_r(m.dense_c()))
+    assert_equal_ref(m.dense_copy_c(m.dense_r()))
+
+
+def test_partially_fixed():
+    ref2 = np.array([[0., 1, 2, 3], [4, 5, 6, 7], [8, 9, 10, 11], [12, 13, 14, 15]])
+    np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_rm_c(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2[:, 1]), ref2[:, [1]])
+    np.testing.assert_array_equal(m.partial_copy_four_rm_c(ref2[0, :]), ref2[[0], :])
+    np.testing.assert_array_equal(m.partial_copy_four_rm_r(ref2[:, (0, 2)]), ref2[:, (0, 2)])
+    np.testing.assert_array_equal(
+        m.partial_copy_four_rm_c(ref2[(3, 1, 2), :]), ref2[(3, 1, 2), :])
+
+    np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_cm_c(ref2), ref2)
+    np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2[:, 1]), ref2[:, [1]])
+    np.testing.assert_array_equal(m.partial_copy_four_cm_c(ref2[0, :]), ref2[[0], :])
+    np.testing.assert_array_equal(m.partial_copy_four_cm_r(ref2[:, (0, 2)]), ref2[:, (0, 2)])
+    np.testing.assert_array_equal(
+        m.partial_copy_four_cm_c(ref2[(3, 1, 2), :]), ref2[(3, 1, 2), :])
+
+    # TypeError should be raise for a shape mismatch
+    functions = [m.partial_copy_four_rm_r, m.partial_copy_four_rm_c,
+                 m.partial_copy_four_cm_r, m.partial_copy_four_cm_c]
+    matrix_with_wrong_shape = [[1, 2],
+                               [3, 4]]
+    for f in functions:
+        with pytest.raises(TypeError) as excinfo:
+            f(matrix_with_wrong_shape)
+        assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_mutator_descriptors():
+    zr = np.arange(30, dtype='float32').reshape(5, 6)  # row-major
+    zc = zr.reshape(6, 5).transpose()  # column-major
+
+    m.fixed_mutator_r(zr)
+    m.fixed_mutator_c(zc)
+    m.fixed_mutator_a(zr)
+    m.fixed_mutator_a(zc)
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_r(zc)
+    assert ('(arg0: numpy.ndarray[numpy.float32[5, 6],'
+            ' flags.writeable, flags.c_contiguous]) -> None'
+            in str(excinfo.value))
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_c(zr)
+    assert ('(arg0: numpy.ndarray[numpy.float32[5, 6],'
+            ' flags.writeable, flags.f_contiguous]) -> None'
+            in str(excinfo.value))
+    with pytest.raises(TypeError) as excinfo:
+        m.fixed_mutator_a(np.array([[1, 2], [3, 4]], dtype='float32'))
+    assert ('(arg0: numpy.ndarray[numpy.float32[5, 6], flags.writeable]) -> None'
+            in str(excinfo.value))
+    zr.flags.writeable = False
+    with pytest.raises(TypeError):
+        m.fixed_mutator_r(zr)
+    with pytest.raises(TypeError):
+        m.fixed_mutator_a(zr)
+
+
+def test_cpp_casting():
+    assert m.cpp_copy(m.fixed_r()) == 22.
+    assert m.cpp_copy(m.fixed_c()) == 22.
+    z = np.array([[5., 6], [7, 8]])
+    assert m.cpp_copy(z) == 7.
+    assert m.cpp_copy(m.get_cm_ref()) == 21.
+    assert m.cpp_copy(m.get_rm_ref()) == 21.
+    assert m.cpp_ref_c(m.get_cm_ref()) == 21.
+    assert m.cpp_ref_r(m.get_rm_ref()) == 21.
+    with pytest.raises(RuntimeError) as excinfo:
+        # Can't reference m.fixed_c: it contains floats, m.cpp_ref_any wants doubles
+        m.cpp_ref_any(m.fixed_c())
+    assert 'Unable to cast Python instance' in str(excinfo.value)
+    with pytest.raises(RuntimeError) as excinfo:
+        # Can't reference m.fixed_r: it contains floats, m.cpp_ref_any wants doubles
+        m.cpp_ref_any(m.fixed_r())
+    assert 'Unable to cast Python instance' in str(excinfo.value)
+    assert m.cpp_ref_any(m.ReturnTester.create()) == 1.
+
+    assert m.cpp_ref_any(m.get_cm_ref()) == 21.
+    assert m.cpp_ref_any(m.get_cm_ref()) == 21.
+
+
+def test_pass_readonly_array():
+    z = np.full((5, 6), 42.0)
+    z.flags.writeable = False
+    np.testing.assert_array_equal(z, m.fixed_copy_r(z))
+    np.testing.assert_array_equal(m.fixed_r_const(), m.fixed_r())
+    assert not m.fixed_r_const().flags.writeable
+    np.testing.assert_array_equal(m.fixed_copy_r(m.fixed_r_const()), m.fixed_r_const())
+
+
+def test_nonunit_stride_from_python():
+    counting_mat = np.arange(9.0, dtype=np.float32).reshape((3, 3))
+    second_row = counting_mat[1, :]
+    second_col = counting_mat[:, 1]
+    np.testing.assert_array_equal(m.double_row(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_col(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_complex(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_row(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_col(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_complex(second_col), 2.0 * second_col)
+
+    counting_3d = np.arange(27.0, dtype=np.float32).reshape((3, 3, 3))
+    slices = [counting_3d[0, :, :], counting_3d[:, 0, :], counting_3d[:, :, 0]]
+    for ref_mat in slices:
+        np.testing.assert_array_equal(m.double_mat_cm(ref_mat), 2.0 * ref_mat)
+        np.testing.assert_array_equal(m.double_mat_rm(ref_mat), 2.0 * ref_mat)
+
+    # Mutator:
+    m.double_threer(second_row)
+    m.double_threec(second_col)
+    np.testing.assert_array_equal(counting_mat, [[0., 2, 2], [6, 16, 10], [6, 14, 8]])
+
+
+def test_negative_stride_from_python(msg):
+    """Eigen doesn't support (as of yet) negative strides. When a function takes an Eigen matrix by
+    copy or const reference, we can pass a numpy array that has negative strides.  Otherwise, an
+    exception will be thrown as Eigen will not be able to map the numpy array."""
+
+    counting_mat = np.arange(9.0, dtype=np.float32).reshape((3, 3))
+    counting_mat = counting_mat[::-1, ::-1]
+    second_row = counting_mat[1, :]
+    second_col = counting_mat[:, 1]
+    np.testing.assert_array_equal(m.double_row(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_col(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_complex(second_row), 2.0 * second_row)
+    np.testing.assert_array_equal(m.double_row(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_col(second_col), 2.0 * second_col)
+    np.testing.assert_array_equal(m.double_complex(second_col), 2.0 * second_col)
+
+    counting_3d = np.arange(27.0, dtype=np.float32).reshape((3, 3, 3))
+    counting_3d = counting_3d[::-1, ::-1, ::-1]
+    slices = [counting_3d[0, :, :], counting_3d[:, 0, :], counting_3d[:, :, 0]]
+    for ref_mat in slices:
+        np.testing.assert_array_equal(m.double_mat_cm(ref_mat), 2.0 * ref_mat)
+        np.testing.assert_array_equal(m.double_mat_rm(ref_mat), 2.0 * ref_mat)
+
+    # Mutator:
+    with pytest.raises(TypeError) as excinfo:
+        m.double_threer(second_row)
+    assert msg(excinfo.value) == """
+        double_threer(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: numpy.ndarray[numpy.float32[1, 3], flags.writeable]) -> None
+
+        Invoked with: """ + repr(np.array([ 5.,  4.,  3.], dtype='float32'))  # noqa: E501 line too long
+
+    with pytest.raises(TypeError) as excinfo:
+        m.double_threec(second_col)
+    assert msg(excinfo.value) == """
+        double_threec(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: numpy.ndarray[numpy.float32[3, 1], flags.writeable]) -> None
+
+        Invoked with: """ + repr(np.array([ 7.,  4.,  1.], dtype='float32'))  # noqa: E501 line too long
+
+
+def test_nonunit_stride_to_python():
+    assert np.all(m.diagonal(ref) == ref.diagonal())
+    assert np.all(m.diagonal_1(ref) == ref.diagonal(1))
+    for i in range(-5, 7):
+        assert np.all(m.diagonal_n(ref, i) == ref.diagonal(i)), "m.diagonal_n({})".format(i)
+
+    assert np.all(m.block(ref, 2, 1, 3, 3) == ref[2:5, 1:4])
+    assert np.all(m.block(ref, 1, 4, 4, 2) == ref[1:, 4:])
+    assert np.all(m.block(ref, 1, 4, 3, 2) == ref[1:4, 4:])
+
+
+def test_eigen_ref_to_python():
+    chols = [m.cholesky1, m.cholesky2, m.cholesky3, m.cholesky4]
+    for i, chol in enumerate(chols, start=1):
+        mymat = chol(np.array([[1., 2, 4], [2, 13, 23], [4, 23, 77]]))
+        assert np.all(mymat == np.array([[1, 0, 0], [2, 3, 0], [4, 5, 6]])), "cholesky{}".format(i)
+
+
+def assign_both(a1, a2, r, c, v):
+    a1[r, c] = v
+    a2[r, c] = v
+
+
+def array_copy_but_one(a, r, c, v):
+    z = np.array(a, copy=True)
+    z[r, c] = v
+    return z
+
+
+def test_eigen_return_references():
+    """Tests various ways of returning references and non-referencing copies"""
+
+    master = np.ones((10, 10))
+    a = m.ReturnTester()
+    a_get1 = a.get()
+    assert not a_get1.flags.owndata and a_get1.flags.writeable
+    assign_both(a_get1, master, 3, 3, 5)
+    a_get2 = a.get_ptr()
+    assert not a_get2.flags.owndata and a_get2.flags.writeable
+    assign_both(a_get1, master, 2, 3, 6)
+
+    a_view1 = a.view()
+    assert not a_view1.flags.owndata and not a_view1.flags.writeable
+    with pytest.raises(ValueError):
+        a_view1[2, 3] = 4
+    a_view2 = a.view_ptr()
+    assert not a_view2.flags.owndata and not a_view2.flags.writeable
+    with pytest.raises(ValueError):
+        a_view2[2, 3] = 4
+
+    a_copy1 = a.copy_get()
+    assert a_copy1.flags.owndata and a_copy1.flags.writeable
+    np.testing.assert_array_equal(a_copy1, master)
+    a_copy1[7, 7] = -44  # Shouldn't affect anything else
+    c1want = array_copy_but_one(master, 7, 7, -44)
+    a_copy2 = a.copy_view()
+    assert a_copy2.flags.owndata and a_copy2.flags.writeable
+    np.testing.assert_array_equal(a_copy2, master)
+    a_copy2[4, 4] = -22  # Shouldn't affect anything else
+    c2want = array_copy_but_one(master, 4, 4, -22)
+
+    a_ref1 = a.ref()
+    assert not a_ref1.flags.owndata and a_ref1.flags.writeable
+    assign_both(a_ref1, master, 1, 1, 15)
+    a_ref2 = a.ref_const()
+    assert not a_ref2.flags.owndata and not a_ref2.flags.writeable
+    with pytest.raises(ValueError):
+        a_ref2[5, 5] = 33
+    a_ref3 = a.ref_safe()
+    assert not a_ref3.flags.owndata and a_ref3.flags.writeable
+    assign_both(a_ref3, master, 0, 7, 99)
+    a_ref4 = a.ref_const_safe()
+    assert not a_ref4.flags.owndata and not a_ref4.flags.writeable
+    with pytest.raises(ValueError):
+        a_ref4[7, 0] = 987654321
+
+    a_copy3 = a.copy_ref()
+    assert a_copy3.flags.owndata and a_copy3.flags.writeable
+    np.testing.assert_array_equal(a_copy3, master)
+    a_copy3[8, 1] = 11
+    c3want = array_copy_but_one(master, 8, 1, 11)
+    a_copy4 = a.copy_ref_const()
+    assert a_copy4.flags.owndata and a_copy4.flags.writeable
+    np.testing.assert_array_equal(a_copy4, master)
+    a_copy4[8, 4] = 88
+    c4want = array_copy_but_one(master, 8, 4, 88)
+
+    a_block1 = a.block(3, 3, 2, 2)
+    assert not a_block1.flags.owndata and a_block1.flags.writeable
+    a_block1[0, 0] = 55
+    master[3, 3] = 55
+    a_block2 = a.block_safe(2, 2, 3, 2)
+    assert not a_block2.flags.owndata and a_block2.flags.writeable
+    a_block2[2, 1] = -123
+    master[4, 3] = -123
+    a_block3 = a.block_const(6, 7, 4, 3)
+    assert not a_block3.flags.owndata and not a_block3.flags.writeable
+    with pytest.raises(ValueError):
+        a_block3[2, 2] = -44444
+
+    a_copy5 = a.copy_block(2, 2, 2, 3)
+    assert a_copy5.flags.owndata and a_copy5.flags.writeable
+    np.testing.assert_array_equal(a_copy5, master[2:4, 2:5])
+    a_copy5[1, 1] = 777
+    c5want = array_copy_but_one(master[2:4, 2:5], 1, 1, 777)
+
+    a_corn1 = a.corners()
+    assert not a_corn1.flags.owndata and a_corn1.flags.writeable
+    a_corn1 *= 50
+    a_corn1[1, 1] = 999
+    master[0, 0] = 50
+    master[0, 9] = 50
+    master[9, 0] = 50
+    master[9, 9] = 999
+    a_corn2 = a.corners_const()
+    assert not a_corn2.flags.owndata and not a_corn2.flags.writeable
+    with pytest.raises(ValueError):
+        a_corn2[1, 0] = 51
+
+    # All of the changes made all the way along should be visible everywhere
+    # now (except for the copies, of course)
+    np.testing.assert_array_equal(a_get1, master)
+    np.testing.assert_array_equal(a_get2, master)
+    np.testing.assert_array_equal(a_view1, master)
+    np.testing.assert_array_equal(a_view2, master)
+    np.testing.assert_array_equal(a_ref1, master)
+    np.testing.assert_array_equal(a_ref2, master)
+    np.testing.assert_array_equal(a_ref3, master)
+    np.testing.assert_array_equal(a_ref4, master)
+    np.testing.assert_array_equal(a_block1, master[3:5, 3:5])
+    np.testing.assert_array_equal(a_block2, master[2:5, 2:4])
+    np.testing.assert_array_equal(a_block3, master[6:10, 7:10])
+    np.testing.assert_array_equal(a_corn1, master[0::master.shape[0] - 1, 0::master.shape[1] - 1])
+    np.testing.assert_array_equal(a_corn2, master[0::master.shape[0] - 1, 0::master.shape[1] - 1])
+
+    np.testing.assert_array_equal(a_copy1, c1want)
+    np.testing.assert_array_equal(a_copy2, c2want)
+    np.testing.assert_array_equal(a_copy3, c3want)
+    np.testing.assert_array_equal(a_copy4, c4want)
+    np.testing.assert_array_equal(a_copy5, c5want)
+
+
+def assert_keeps_alive(cl, method, *args):
+    cstats = ConstructorStats.get(cl)
+    start_with = cstats.alive()
+    a = cl()
+    assert cstats.alive() == start_with + 1
+    z = method(a, *args)
+    assert cstats.alive() == start_with + 1
+    del a
+    # Here's the keep alive in action:
+    assert cstats.alive() == start_with + 1
+    del z
+    # Keep alive should have expired:
+    assert cstats.alive() == start_with
+
+
+def test_eigen_keepalive():
+    a = m.ReturnTester()
+    cstats = ConstructorStats.get(m.ReturnTester)
+    assert cstats.alive() == 1
+    unsafe = [a.ref(), a.ref_const(), a.block(1, 2, 3, 4)]
+    copies = [a.copy_get(), a.copy_view(), a.copy_ref(), a.copy_ref_const(),
+              a.copy_block(4, 3, 2, 1)]
+    del a
+    assert cstats.alive() == 0
+    del unsafe
+    del copies
+
+    for meth in [m.ReturnTester.get, m.ReturnTester.get_ptr, m.ReturnTester.view,
+                 m.ReturnTester.view_ptr, m.ReturnTester.ref_safe, m.ReturnTester.ref_const_safe,
+                 m.ReturnTester.corners, m.ReturnTester.corners_const]:
+        assert_keeps_alive(m.ReturnTester, meth)
+
+    for meth in [m.ReturnTester.block_safe, m.ReturnTester.block_const]:
+        assert_keeps_alive(m.ReturnTester, meth, 4, 3, 2, 1)
+
+
+def test_eigen_ref_mutators():
+    """Tests Eigen's ability to mutate numpy values"""
+
+    orig = np.array([[1., 2, 3], [4, 5, 6], [7, 8, 9]])
+    zr = np.array(orig)
+    zc = np.array(orig, order='F')
+    m.add_rm(zr, 1, 0, 100)
+    assert np.all(zr == np.array([[1., 2, 3], [104, 5, 6], [7, 8, 9]]))
+    m.add_cm(zc, 1, 0, 200)
+    assert np.all(zc == np.array([[1., 2, 3], [204, 5, 6], [7, 8, 9]]))
+
+    m.add_any(zr, 1, 0, 20)
+    assert np.all(zr == np.array([[1., 2, 3], [124, 5, 6], [7, 8, 9]]))
+    m.add_any(zc, 1, 0, 10)
+    assert np.all(zc == np.array([[1., 2, 3], [214, 5, 6], [7, 8, 9]]))
+
+    # Can't reference a col-major array with a row-major Ref, and vice versa:
+    with pytest.raises(TypeError):
+        m.add_rm(zc, 1, 0, 1)
+    with pytest.raises(TypeError):
+        m.add_cm(zr, 1, 0, 1)
+
+    # Overloads:
+    m.add1(zr, 1, 0, -100)
+    m.add2(zr, 1, 0, -20)
+    assert np.all(zr == orig)
+    m.add1(zc, 1, 0, -200)
+    m.add2(zc, 1, 0, -10)
+    assert np.all(zc == orig)
+
+    # a non-contiguous slice (this won't work on either the row- or
+    # column-contiguous refs, but should work for the any)
+    cornersr = zr[0::2, 0::2]
+    cornersc = zc[0::2, 0::2]
+
+    assert np.all(cornersr == np.array([[1., 3], [7, 9]]))
+    assert np.all(cornersc == np.array([[1., 3], [7, 9]]))
+
+    with pytest.raises(TypeError):
+        m.add_rm(cornersr, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_cm(cornersr, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_rm(cornersc, 0, 1, 25)
+    with pytest.raises(TypeError):
+        m.add_cm(cornersc, 0, 1, 25)
+    m.add_any(cornersr, 0, 1, 25)
+    m.add_any(cornersc, 0, 1, 44)
+    assert np.all(zr == np.array([[1., 2, 28], [4, 5, 6], [7, 8, 9]]))
+    assert np.all(zc == np.array([[1., 2, 47], [4, 5, 6], [7, 8, 9]]))
+
+    # You shouldn't be allowed to pass a non-writeable array to a mutating Eigen method:
+    zro = zr[0:4, 0:4]
+    zro.flags.writeable = False
+    with pytest.raises(TypeError):
+        m.add_rm(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add_any(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add1(zro, 0, 0, 0)
+    with pytest.raises(TypeError):
+        m.add2(zro, 0, 0, 0)
+
+    # integer array shouldn't be passable to a double-matrix-accepting mutating func:
+    zi = np.array([[1, 2], [3, 4]])
+    with pytest.raises(TypeError):
+        m.add_rm(zi)
+
+
+def test_numpy_ref_mutators():
+    """Tests numpy mutating Eigen matrices (for returned Eigen::Ref<...>s)"""
+
+    m.reset_refs()  # In case another test already changed it
+
+    zc = m.get_cm_ref()
+    zcro = m.get_cm_const_ref()
+    zr = m.get_rm_ref()
+    zrro = m.get_rm_const_ref()
+
+    assert [zc[1, 2], zcro[1, 2], zr[1, 2], zrro[1, 2]] == [23] * 4
+
+    assert not zc.flags.owndata and zc.flags.writeable
+    assert not zr.flags.owndata and zr.flags.writeable
+    assert not zcro.flags.owndata and not zcro.flags.writeable
+    assert not zrro.flags.owndata and not zrro.flags.writeable
+
+    zc[1, 2] = 99
+    expect = np.array([[11., 12, 13], [21, 22, 99], [31, 32, 33]])
+    # We should have just changed zc, of course, but also zcro and the original eigen matrix
+    assert np.all(zc == expect)
+    assert np.all(zcro == expect)
+    assert np.all(m.get_cm_ref() == expect)
+
+    zr[1, 2] = 99
+    assert np.all(zr == expect)
+    assert np.all(zrro == expect)
+    assert np.all(m.get_rm_ref() == expect)
+
+    # Make sure the readonly ones are numpy-readonly:
+    with pytest.raises(ValueError):
+        zcro[1, 2] = 6
+    with pytest.raises(ValueError):
+        zrro[1, 2] = 6
+
+    # We should be able to explicitly copy like this (and since we're copying,
+    # the const should drop away)
+    y1 = np.array(m.get_cm_const_ref())
+
+    assert y1.flags.owndata and y1.flags.writeable
+    # We should get copies of the eigen data, which was modified above:
+    assert y1[1, 2] == 99
+    y1[1, 2] += 12
+    assert y1[1, 2] == 111
+    assert zc[1, 2] == 99  # Make sure we aren't referencing the original
+
+
+def test_both_ref_mutators():
+    """Tests a complex chain of nested eigen/numpy references"""
+
+    m.reset_refs()  # In case another test already changed it
+
+    z = m.get_cm_ref()  # numpy -> eigen
+    z[0, 2] -= 3
+    z2 = m.incr_matrix(z, 1)  # numpy -> eigen -> numpy -> eigen
+    z2[1, 1] += 6
+    z3 = m.incr_matrix(z, 2)  # (numpy -> eigen)^3
+    z3[2, 2] += -5
+    z4 = m.incr_matrix(z, 3)  # (numpy -> eigen)^4
+    z4[1, 1] -= 1
+    z5 = m.incr_matrix(z, 4)  # (numpy -> eigen)^5
+    z5[0, 0] = 0
+    assert np.all(z == z2)
+    assert np.all(z == z3)
+    assert np.all(z == z4)
+    assert np.all(z == z5)
+    expect = np.array([[0., 22, 20], [31, 37, 33], [41, 42, 38]])
+    assert np.all(z == expect)
+
+    y = np.array(range(100), dtype='float64').reshape(10, 10)
+    y2 = m.incr_matrix_any(y, 10)  # np -> eigen -> np
+    y3 = m.incr_matrix_any(y2[0::2, 0::2], -33)  # np -> eigen -> np slice -> np -> eigen -> np
+    y4 = m.even_rows(y3)  # numpy -> eigen slice -> (... y3)
+    y5 = m.even_cols(y4)  # numpy -> eigen slice -> (... y4)
+    y6 = m.incr_matrix_any(y5, 1000)  # numpy -> eigen -> (... y5)
+
+    # Apply same mutations using just numpy:
+    yexpect = np.array(range(100), dtype='float64').reshape(10, 10)
+    yexpect += 10
+    yexpect[0::2, 0::2] -= 33
+    yexpect[0::4, 0::4] += 1000
+    assert np.all(y6 == yexpect[0::4, 0::4])
+    assert np.all(y5 == yexpect[0::4, 0::4])
+    assert np.all(y4 == yexpect[0::4, 0::2])
+    assert np.all(y3 == yexpect[0::2, 0::2])
+    assert np.all(y2 == yexpect)
+    assert np.all(y == yexpect)
+
+
+def test_nocopy_wrapper():
+    # get_elem requires a column-contiguous matrix reference, but should be
+    # callable with other types of matrix (via copying):
+    int_matrix_colmajor = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]], order='F')
+    dbl_matrix_colmajor = np.array(int_matrix_colmajor, dtype='double', order='F', copy=True)
+    int_matrix_rowmajor = np.array(int_matrix_colmajor, order='C', copy=True)
+    dbl_matrix_rowmajor = np.array(int_matrix_rowmajor, dtype='double', order='C', copy=True)
+
+    # All should be callable via get_elem:
+    assert m.get_elem(int_matrix_colmajor) == 8
+    assert m.get_elem(dbl_matrix_colmajor) == 8
+    assert m.get_elem(int_matrix_rowmajor) == 8
+    assert m.get_elem(dbl_matrix_rowmajor) == 8
+
+    # All but the second should fail with m.get_elem_nocopy:
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(int_matrix_colmajor)
+    assert ('get_elem_nocopy(): incompatible function arguments.' in str(excinfo.value) and
+            ', flags.f_contiguous' in str(excinfo.value))
+    assert m.get_elem_nocopy(dbl_matrix_colmajor) == 8
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(int_matrix_rowmajor)
+    assert ('get_elem_nocopy(): incompatible function arguments.' in str(excinfo.value) and
+            ', flags.f_contiguous' in str(excinfo.value))
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_nocopy(dbl_matrix_rowmajor)
+    assert ('get_elem_nocopy(): incompatible function arguments.' in str(excinfo.value) and
+            ', flags.f_contiguous' in str(excinfo.value))
+
+    # For the row-major test, we take a long matrix in row-major, so only the third is allowed:
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(int_matrix_colmajor)
+    assert ('get_elem_rm_nocopy(): incompatible function arguments.' in str(excinfo.value) and
+            ', flags.c_contiguous' in str(excinfo.value))
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(dbl_matrix_colmajor)
+    assert ('get_elem_rm_nocopy(): incompatible function arguments.' in str(excinfo.value) and
+            ', flags.c_contiguous' in str(excinfo.value))
+    assert m.get_elem_rm_nocopy(int_matrix_rowmajor) == 8
+    with pytest.raises(TypeError) as excinfo:
+        m.get_elem_rm_nocopy(dbl_matrix_rowmajor)
+    assert ('get_elem_rm_nocopy(): incompatible function arguments.' in str(excinfo.value) and
+            ', flags.c_contiguous' in str(excinfo.value))
+
+
+def test_eigen_ref_life_support():
+    """Ensure the lifetime of temporary arrays created by the `Ref` caster
+
+    The `Ref` caster sometimes creates a copy which needs to stay alive. This needs to
+    happen both for directs casts (just the array) or indirectly (e.g. list of arrays).
+    """
+
+    a = np.full(shape=10, fill_value=8, dtype=np.int8)
+    assert m.get_elem_direct(a) == 8
+
+    list_of_a = [a]
+    assert m.get_elem_indirect(list_of_a) == 8
+
+
+def test_special_matrix_objects():
+    assert np.all(m.incr_diag(7) == np.diag([1., 2, 3, 4, 5, 6, 7]))
+
+    asymm = np.array([[ 1.,  2,  3,  4],
+                      [ 5,  6,  7,  8],
+                      [ 9, 10, 11, 12],
+                      [13, 14, 15, 16]])
+    symm_lower = np.array(asymm)
+    symm_upper = np.array(asymm)
+    for i in range(4):
+        for j in range(i + 1, 4):
+            symm_lower[i, j] = symm_lower[j, i]
+            symm_upper[j, i] = symm_upper[i, j]
+
+    assert np.all(m.symmetric_lower(asymm) == symm_lower)
+    assert np.all(m.symmetric_upper(asymm) == symm_upper)
+
+
+def test_dense_signature(doc):
+    assert doc(m.double_col) == """
+        double_col(arg0: numpy.ndarray[numpy.float32[m, 1]]) -> numpy.ndarray[numpy.float32[m, 1]]
+    """
+    assert doc(m.double_row) == """
+        double_row(arg0: numpy.ndarray[numpy.float32[1, n]]) -> numpy.ndarray[numpy.float32[1, n]]
+    """
+    assert doc(m.double_complex) == ("""
+        double_complex(arg0: numpy.ndarray[numpy.complex64[m, 1]])"""
+                                     """ -> numpy.ndarray[numpy.complex64[m, 1]]
+    """)
+    assert doc(m.double_mat_rm) == ("""
+        double_mat_rm(arg0: numpy.ndarray[numpy.float32[m, n]])"""
+                                    """ -> numpy.ndarray[numpy.float32[m, n]]
+    """)
+
+
+def test_named_arguments():
+    a = np.array([[1.0, 2], [3, 4], [5, 6]])
+    b = np.ones((2, 1))
+
+    assert np.all(m.matrix_multiply(a, b) == np.array([[3.], [7], [11]]))
+    assert np.all(m.matrix_multiply(A=a, B=b) == np.array([[3.], [7], [11]]))
+    assert np.all(m.matrix_multiply(B=b, A=a) == np.array([[3.], [7], [11]]))
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(b, a)
+    assert str(excinfo.value) == 'Nonconformable matrices!'
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(A=b, B=a)
+    assert str(excinfo.value) == 'Nonconformable matrices!'
+
+    with pytest.raises(ValueError) as excinfo:
+        m.matrix_multiply(B=a, A=b)
+    assert str(excinfo.value) == 'Nonconformable matrices!'
+
+
+def test_sparse():
+    pytest.importorskip("scipy")
+    assert_sparse_equal_ref(m.sparse_r())
+    assert_sparse_equal_ref(m.sparse_c())
+    assert_sparse_equal_ref(m.sparse_copy_r(m.sparse_r()))
+    assert_sparse_equal_ref(m.sparse_copy_c(m.sparse_c()))
+    assert_sparse_equal_ref(m.sparse_copy_r(m.sparse_c()))
+    assert_sparse_equal_ref(m.sparse_copy_c(m.sparse_r()))
+
+
+def test_sparse_signature(doc):
+    pytest.importorskip("scipy")
+    assert doc(m.sparse_copy_r) == """
+        sparse_copy_r(arg0: scipy.sparse.csr_matrix[numpy.float32]) -> scipy.sparse.csr_matrix[numpy.float32]
+    """  # noqa: E501 line too long
+    assert doc(m.sparse_copy_c) == """
+        sparse_copy_c(arg0: scipy.sparse.csc_matrix[numpy.float32]) -> scipy.sparse.csc_matrix[numpy.float32]
+    """  # noqa: E501 line too long
+
+
+def test_issue738():
+    """Ignore strides on a length-1 dimension (even if they would be incompatible length > 1)"""
+    assert np.all(m.iss738_f1(np.array([[1., 2, 3]])) == np.array([[1., 102, 203]]))
+    assert np.all(m.iss738_f1(np.array([[1.], [2], [3]])) == np.array([[1.], [12], [23]]))
+
+    assert np.all(m.iss738_f2(np.array([[1., 2, 3]])) == np.array([[1., 102, 203]]))
+    assert np.all(m.iss738_f2(np.array([[1.], [2], [3]])) == np.array([[1.], [12], [23]]))
+
+
+def test_issue1105():
+    """Issue 1105: 1xN or Nx1 input arrays weren't accepted for eigen
+    compile-time row vectors or column vector"""
+    assert m.iss1105_row(np.ones((1, 7)))
+    assert m.iss1105_col(np.ones((7, 1)))
+
+    # These should still fail (incompatible dimensions):
+    with pytest.raises(TypeError) as excinfo:
+        m.iss1105_row(np.ones((7, 1)))
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.iss1105_col(np.ones((1, 7)))
+    assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_custom_operator_new():
+    """Using Eigen types as member variables requires a class-specific
+    operator new with proper alignment"""
+
+    o = m.CustomOperatorNew()
+    np.testing.assert_allclose(o.a, 0.0)
+    np.testing.assert_allclose(o.b.diagonal(), 1.0)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/CMakeLists.txt b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/CMakeLists.txt
new file mode 100644
index 0000000..2e298fa
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/CMakeLists.txt
@@ -0,0 +1,43 @@
+if("${PYTHON_MODULE_EXTENSION}" MATCHES "pypy" OR "${Python_INTERPRETER_ID}" STREQUAL "PyPy")
+  add_custom_target(cpptest) # Dummy target on PyPy. Embedding is not supported.
+  set(_suppress_unused_variable_warning "${DOWNLOAD_CATCH}")
+  return()
+endif()
+
+find_package(Catch 2.13.0)
+
+if(CATCH_FOUND)
+  message(STATUS "Building interpreter tests using Catch v${CATCH_VERSION}")
+else()
+  message(STATUS "Catch not detected. Interpreter tests will be skipped. Install Catch headers"
+                 " manually or use `cmake -DDOWNLOAD_CATCH=ON` to fetch them automatically.")
+  return()
+endif()
+
+find_package(Threads REQUIRED)
+
+add_executable(test_embed catch.cpp test_interpreter.cpp)
+pybind11_enable_warnings(test_embed)
+
+target_link_libraries(test_embed PRIVATE pybind11::embed Catch2::Catch2 Threads::Threads)
+
+if(NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_CURRENT_BINARY_DIR)
+  file(COPY test_interpreter.py DESTINATION "${CMAKE_CURRENT_BINARY_DIR}")
+endif()
+
+add_custom_target(
+  cpptest
+  COMMAND "$<TARGET_FILE:test_embed>"
+  WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}")
+
+pybind11_add_module(external_module THIN_LTO external_module.cpp)
+set_target_properties(external_module PROPERTIES LIBRARY_OUTPUT_DIRECTORY
+                                                 "${CMAKE_CURRENT_BINARY_DIR}")
+foreach(config ${CMAKE_CONFIGURATION_TYPES})
+  string(TOUPPER ${config} config)
+  set_target_properties(external_module PROPERTIES LIBRARY_OUTPUT_DIRECTORY_${config}
+                                                   "${CMAKE_CURRENT_BINARY_DIR}")
+endforeach()
+add_dependencies(cpptest external_module)
+
+add_dependencies(check cpptest)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/catch.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/catch.cpp
new file mode 100644
index 0000000..dd13738
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/catch.cpp
@@ -0,0 +1,22 @@
+// The Catch implementation is compiled here. This is a standalone
+// translation unit to avoid recompiling it for every test change.
+
+#include <pybind11/embed.h>
+
+#ifdef _MSC_VER
+// Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch
+// 2.0.1; this should be fixed in the next catch release after 2.0.1).
+#  pragma warning(disable: 4996)
+#endif
+
+#define CATCH_CONFIG_RUNNER
+#include <catch.hpp>
+
+namespace py = pybind11;
+
+int main(int argc, char *argv[]) {
+    py::scoped_interpreter guard{};
+    auto result = Catch::Session().run(argc, argv);
+
+    return result < 0xff ? result : 0xff;
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/external_module.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/external_module.cpp
new file mode 100644
index 0000000..e9a6058
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/external_module.cpp
@@ -0,0 +1,23 @@
+#include <pybind11/pybind11.h>
+
+namespace py = pybind11;
+
+/* Simple test module/test class to check that the referenced internals data of external pybind11
+ * modules aren't preserved over a finalize/initialize.
+ */
+
+PYBIND11_MODULE(external_module, m) {
+    class A {
+    public:
+        A(int value) : v{value} {};
+        int v;
+    };
+
+    py::class_<A>(m, "A")
+        .def(py::init<int>())
+        .def_readwrite("value", &A::v);
+
+    m.def("internals_at", []() {
+        return reinterpret_cast<uintptr_t>(&py::detail::get_internals());
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.cpp
new file mode 100644
index 0000000..944334c
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.cpp
@@ -0,0 +1,284 @@
+#include <pybind11/embed.h>
+
+#ifdef _MSC_VER
+// Silence MSVC C++17 deprecation warning from Catch regarding std::uncaught_exceptions (up to catch
+// 2.0.1; this should be fixed in the next catch release after 2.0.1).
+#  pragma warning(disable: 4996)
+#endif
+
+#include <catch.hpp>
+
+#include <thread>
+#include <fstream>
+#include <functional>
+
+namespace py = pybind11;
+using namespace py::literals;
+
+class Widget {
+public:
+    Widget(std::string message) : message(message) { }
+    virtual ~Widget() = default;
+
+    std::string the_message() const { return message; }
+    virtual int the_answer() const = 0;
+
+private:
+    std::string message;
+};
+
+class PyWidget final : public Widget {
+    using Widget::Widget;
+
+    int the_answer() const override { PYBIND11_OVERRIDE_PURE(int, Widget, the_answer); }
+};
+
+PYBIND11_EMBEDDED_MODULE(widget_module, m) {
+    py::class_<Widget, PyWidget>(m, "Widget")
+        .def(py::init<std::string>())
+        .def_property_readonly("the_message", &Widget::the_message);
+
+    m.def("add", [](int i, int j) { return i + j; });
+}
+
+PYBIND11_EMBEDDED_MODULE(throw_exception, ) {
+    throw std::runtime_error("C++ Error");
+}
+
+PYBIND11_EMBEDDED_MODULE(throw_error_already_set, ) {
+    auto d = py::dict();
+    d["missing"].cast<py::object>();
+}
+
+TEST_CASE("Pass classes and data between modules defined in C++ and Python") {
+    auto module_ = py::module_::import("test_interpreter");
+    REQUIRE(py::hasattr(module_, "DerivedWidget"));
+
+    auto locals = py::dict("hello"_a="Hello, World!", "x"_a=5, **module_.attr("__dict__"));
+    py::exec(R"(
+        widget = DerivedWidget("{} - {}".format(hello, x))
+        message = widget.the_message
+    )", py::globals(), locals);
+    REQUIRE(locals["message"].cast<std::string>() == "Hello, World! - 5");
+
+    auto py_widget = module_.attr("DerivedWidget")("The question");
+    auto message = py_widget.attr("the_message");
+    REQUIRE(message.cast<std::string>() == "The question");
+
+    const auto &cpp_widget = py_widget.cast<const Widget &>();
+    REQUIRE(cpp_widget.the_answer() == 42);
+}
+
+TEST_CASE("Import error handling") {
+    REQUIRE_NOTHROW(py::module_::import("widget_module"));
+    REQUIRE_THROWS_WITH(py::module_::import("throw_exception"),
+                        "ImportError: C++ Error");
+    REQUIRE_THROWS_WITH(py::module_::import("throw_error_already_set"),
+                        Catch::Contains("ImportError: KeyError"));
+}
+
+TEST_CASE("There can be only one interpreter") {
+    static_assert(std::is_move_constructible<py::scoped_interpreter>::value, "");
+    static_assert(!std::is_move_assignable<py::scoped_interpreter>::value, "");
+    static_assert(!std::is_copy_constructible<py::scoped_interpreter>::value, "");
+    static_assert(!std::is_copy_assignable<py::scoped_interpreter>::value, "");
+
+    REQUIRE_THROWS_WITH(py::initialize_interpreter(), "The interpreter is already running");
+    REQUIRE_THROWS_WITH(py::scoped_interpreter(), "The interpreter is already running");
+
+    py::finalize_interpreter();
+    REQUIRE_NOTHROW(py::scoped_interpreter());
+    {
+        auto pyi1 = py::scoped_interpreter();
+        auto pyi2 = std::move(pyi1);
+    }
+    py::initialize_interpreter();
+}
+
+bool has_pybind11_internals_builtin() {
+    auto builtins = py::handle(PyEval_GetBuiltins());
+    return builtins.contains(PYBIND11_INTERNALS_ID);
+};
+
+bool has_pybind11_internals_static() {
+    auto **&ipp = py::detail::get_internals_pp();
+    return ipp && *ipp;
+}
+
+TEST_CASE("Restart the interpreter") {
+    // Verify pre-restart state.
+    REQUIRE(py::module_::import("widget_module").attr("add")(1, 2).cast<int>() == 3);
+    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_pybind11_internals_static());
+    REQUIRE(py::module_::import("external_module").attr("A")(123).attr("value").cast<int>() == 123);
+
+    // local and foreign module internals should point to the same internals:
+    REQUIRE(reinterpret_cast<uintptr_t>(*py::detail::get_internals_pp()) ==
+            py::module_::import("external_module").attr("internals_at")().cast<uintptr_t>());
+
+    // Restart the interpreter.
+    py::finalize_interpreter();
+    REQUIRE(Py_IsInitialized() == 0);
+
+    py::initialize_interpreter();
+    REQUIRE(Py_IsInitialized() == 1);
+
+    // Internals are deleted after a restart.
+    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_pybind11_internals_static());
+    pybind11::detail::get_internals();
+    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_pybind11_internals_static());
+    REQUIRE(reinterpret_cast<uintptr_t>(*py::detail::get_internals_pp()) ==
+            py::module_::import("external_module").attr("internals_at")().cast<uintptr_t>());
+
+    // Make sure that an interpreter with no get_internals() created until finalize still gets the
+    // internals destroyed
+    py::finalize_interpreter();
+    py::initialize_interpreter();
+    bool ran = false;
+    py::module_::import("__main__").attr("internals_destroy_test") =
+        py::capsule(&ran, [](void *ran) { py::detail::get_internals(); *static_cast<bool *>(ran) = true; });
+    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_pybind11_internals_static());
+    REQUIRE_FALSE(ran);
+    py::finalize_interpreter();
+    REQUIRE(ran);
+    py::initialize_interpreter();
+    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE_FALSE(has_pybind11_internals_static());
+
+    // C++ modules can be reloaded.
+    auto cpp_module = py::module_::import("widget_module");
+    REQUIRE(cpp_module.attr("add")(1, 2).cast<int>() == 3);
+
+    // C++ type information is reloaded and can be used in python modules.
+    auto py_module = py::module_::import("test_interpreter");
+    auto py_widget = py_module.attr("DerivedWidget")("Hello after restart");
+    REQUIRE(py_widget.attr("the_message").cast<std::string>() == "Hello after restart");
+}
+
+TEST_CASE("Subinterpreter") {
+    // Add tags to the modules in the main interpreter and test the basics.
+    py::module_::import("__main__").attr("main_tag") = "main interpreter";
+    {
+        auto m = py::module_::import("widget_module");
+        m.attr("extension_module_tag") = "added to module in main interpreter";
+
+        REQUIRE(m.attr("add")(1, 2).cast<int>() == 3);
+    }
+    REQUIRE(has_pybind11_internals_builtin());
+    REQUIRE(has_pybind11_internals_static());
+
+    /// Create and switch to a subinterpreter.
+    auto main_tstate = PyThreadState_Get();
+    auto sub_tstate = Py_NewInterpreter();
+
+    // Subinterpreters get their own copy of builtins. detail::get_internals() still
+    // works by returning from the static variable, i.e. all interpreters share a single
+    // global pybind11::internals;
+    REQUIRE_FALSE(has_pybind11_internals_builtin());
+    REQUIRE(has_pybind11_internals_static());
+
+    // Modules tags should be gone.
+    REQUIRE_FALSE(py::hasattr(py::module_::import("__main__"), "tag"));
+    {
+        auto m = py::module_::import("widget_module");
+        REQUIRE_FALSE(py::hasattr(m, "extension_module_tag"));
+
+        // Function bindings should still work.
+        REQUIRE(m.attr("add")(1, 2).cast<int>() == 3);
+    }
+
+    // Restore main interpreter.
+    Py_EndInterpreter(sub_tstate);
+    PyThreadState_Swap(main_tstate);
+
+    REQUIRE(py::hasattr(py::module_::import("__main__"), "main_tag"));
+    REQUIRE(py::hasattr(py::module_::import("widget_module"), "extension_module_tag"));
+}
+
+TEST_CASE("Execution frame") {
+    // When the interpreter is embedded, there is no execution frame, but `py::exec`
+    // should still function by using reasonable globals: `__main__.__dict__`.
+    py::exec("var = dict(number=42)");
+    REQUIRE(py::globals()["var"]["number"].cast<int>() == 42);
+}
+
+TEST_CASE("Threads") {
+    // Restart interpreter to ensure threads are not initialized
+    py::finalize_interpreter();
+    py::initialize_interpreter();
+    REQUIRE_FALSE(has_pybind11_internals_static());
+
+    constexpr auto num_threads = 10;
+    auto locals = py::dict("count"_a=0);
+
+    {
+        py::gil_scoped_release gil_release{};
+        REQUIRE(has_pybind11_internals_static());
+
+        auto threads = std::vector<std::thread>();
+        for (auto i = 0; i < num_threads; ++i) {
+            threads.emplace_back([&]() {
+                py::gil_scoped_acquire gil{};
+                locals["count"] = locals["count"].cast<int>() + 1;
+            });
+        }
+
+        for (auto &thread : threads) {
+            thread.join();
+        }
+    }
+
+    REQUIRE(locals["count"].cast<int>() == num_threads);
+}
+
+// Scope exit utility https://stackoverflow.com/a/36644501/7255855
+struct scope_exit {
+    std::function<void()> f_;
+    explicit scope_exit(std::function<void()> f) noexcept : f_(std::move(f)) {}
+    ~scope_exit() { if (f_) f_(); }
+};
+
+TEST_CASE("Reload module from file") {
+    // Disable generation of cached bytecode (.pyc files) for this test, otherwise
+    // Python might pick up an old version from the cache instead of the new versions
+    // of the .py files generated below
+    auto sys = py::module_::import("sys");
+    bool dont_write_bytecode = sys.attr("dont_write_bytecode").cast<bool>();
+    sys.attr("dont_write_bytecode") = true;
+    // Reset the value at scope exit
+    scope_exit reset_dont_write_bytecode([&]() {
+        sys.attr("dont_write_bytecode") = dont_write_bytecode;
+    });
+
+    std::string module_name = "test_module_reload";
+    std::string module_file = module_name + ".py";
+
+    // Create the module .py file
+    std::ofstream test_module(module_file);
+    test_module << "def test():\n";
+    test_module << "    return 1\n";
+    test_module.close();
+    // Delete the file at scope exit
+    scope_exit delete_module_file([&]() {
+        std::remove(module_file.c_str());
+    });
+
+    // Import the module from file
+    auto module_ = py::module_::import(module_name.c_str());
+    int result = module_.attr("test")().cast<int>();
+    REQUIRE(result == 1);
+
+    // Update the module .py file with a small change
+    test_module.open(module_file);
+    test_module << "def test():\n";
+    test_module << "    return 2\n";
+    test_module.close();
+
+    // Reload the module
+    module_.reload();
+    result = module_.attr("test")().cast<int>();
+    REQUIRE(result == 2);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.py
new file mode 100644
index 0000000..6174ede
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_embed/test_interpreter.py
@@ -0,0 +1,10 @@
+# -*- coding: utf-8 -*-
+from widget_module import Widget
+
+
+class DerivedWidget(Widget):
+    def __init__(self, message):
+        super(DerivedWidget, self).__init__(message)
+
+    def the_answer(self):
+        return 42
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_enum.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_enum.cpp
new file mode 100644
index 0000000..3153089
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_enum.cpp
@@ -0,0 +1,87 @@
+/*
+    tests/test_enums.cpp -- enumerations
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+TEST_SUBMODULE(enums, m) {
+    // test_unscoped_enum
+    enum UnscopedEnum {
+        EOne = 1,
+        ETwo,
+        EThree
+    };
+    py::enum_<UnscopedEnum>(m, "UnscopedEnum", py::arithmetic(), "An unscoped enumeration")
+        .value("EOne", EOne, "Docstring for EOne")
+        .value("ETwo", ETwo, "Docstring for ETwo")
+        .value("EThree", EThree, "Docstring for EThree")
+        .export_values();
+
+    // test_scoped_enum
+    enum class ScopedEnum {
+        Two = 2,
+        Three
+    };
+    py::enum_<ScopedEnum>(m, "ScopedEnum", py::arithmetic())
+        .value("Two", ScopedEnum::Two)
+        .value("Three", ScopedEnum::Three);
+
+    m.def("test_scoped_enum", [](ScopedEnum z) {
+        return "ScopedEnum::" + std::string(z == ScopedEnum::Two ? "Two" : "Three");
+    });
+
+    // test_binary_operators
+    enum Flags {
+        Read = 4,
+        Write = 2,
+        Execute = 1
+    };
+    py::enum_<Flags>(m, "Flags", py::arithmetic())
+        .value("Read", Flags::Read)
+        .value("Write", Flags::Write)
+        .value("Execute", Flags::Execute)
+        .export_values();
+
+    // test_implicit_conversion
+    class ClassWithUnscopedEnum {
+    public:
+        enum EMode {
+            EFirstMode = 1,
+            ESecondMode
+        };
+
+        static EMode test_function(EMode mode) {
+            return mode;
+        }
+    };
+    py::class_<ClassWithUnscopedEnum> exenum_class(m, "ClassWithUnscopedEnum");
+    exenum_class.def_static("test_function", &ClassWithUnscopedEnum::test_function);
+    py::enum_<ClassWithUnscopedEnum::EMode>(exenum_class, "EMode")
+        .value("EFirstMode", ClassWithUnscopedEnum::EFirstMode)
+        .value("ESecondMode", ClassWithUnscopedEnum::ESecondMode)
+        .export_values();
+
+    // test_enum_to_int
+    m.def("test_enum_to_int", [](int) { });
+    m.def("test_enum_to_uint", [](uint32_t) { });
+    m.def("test_enum_to_long_long", [](long long) { });
+
+    // test_duplicate_enum_name
+    enum SimpleEnum
+    {
+        ONE, TWO, THREE
+    };
+
+    m.def("register_bad_enum", [m]() {
+        py::enum_<SimpleEnum>(m, "SimpleEnum")
+            .value("ONE", SimpleEnum::ONE)          //NOTE: all value function calls are called with the same first parameter value
+            .value("ONE", SimpleEnum::TWO)
+            .value("ONE", SimpleEnum::THREE)
+            .export_values();
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_enum.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_enum.py
new file mode 100644
index 0000000..46cb379
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_enum.py
@@ -0,0 +1,212 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import enums as m
+
+
+def test_unscoped_enum():
+    assert str(m.UnscopedEnum.EOne) == "UnscopedEnum.EOne"
+    assert str(m.UnscopedEnum.ETwo) == "UnscopedEnum.ETwo"
+    assert str(m.EOne) == "UnscopedEnum.EOne"
+    assert repr(m.UnscopedEnum.EOne) == "<UnscopedEnum.EOne: 1>"
+    assert repr(m.UnscopedEnum.ETwo) == "<UnscopedEnum.ETwo: 2>"
+    assert repr(m.EOne) == "<UnscopedEnum.EOne: 1>"
+
+    # name property
+    assert m.UnscopedEnum.EOne.name == "EOne"
+    assert m.UnscopedEnum.ETwo.name == "ETwo"
+    assert m.EOne.name == "EOne"
+    # name readonly
+    with pytest.raises(AttributeError):
+        m.UnscopedEnum.EOne.name = ""
+    # name returns a copy
+    foo = m.UnscopedEnum.EOne.name
+    foo = "bar"
+    assert m.UnscopedEnum.EOne.name == "EOne"
+
+    # __members__ property
+    assert m.UnscopedEnum.__members__ == \
+        {"EOne": m.UnscopedEnum.EOne, "ETwo": m.UnscopedEnum.ETwo, "EThree": m.UnscopedEnum.EThree}
+    # __members__ readonly
+    with pytest.raises(AttributeError):
+        m.UnscopedEnum.__members__ = {}
+    # __members__ returns a copy
+    foo = m.UnscopedEnum.__members__
+    foo["bar"] = "baz"
+    assert m.UnscopedEnum.__members__ == \
+        {"EOne": m.UnscopedEnum.EOne, "ETwo": m.UnscopedEnum.ETwo, "EThree": m.UnscopedEnum.EThree}
+
+    for docstring_line in '''An unscoped enumeration
+
+Members:
+
+  EOne : Docstring for EOne
+
+  ETwo : Docstring for ETwo
+
+  EThree : Docstring for EThree'''.split('\n'):
+        assert docstring_line in m.UnscopedEnum.__doc__
+
+    # Unscoped enums will accept ==/!= int comparisons
+    y = m.UnscopedEnum.ETwo
+    assert y == 2
+    assert 2 == y
+    assert y != 3
+    assert 3 != y
+    # Compare with None
+    assert (y != None)  # noqa: E711
+    assert not (y == None)  # noqa: E711
+    # Compare with an object
+    assert (y != object())
+    assert not (y == object())
+    # Compare with string
+    assert y != "2"
+    assert "2" != y
+    assert not ("2" == y)
+    assert not (y == "2")
+
+    with pytest.raises(TypeError):
+        y < object()
+
+    with pytest.raises(TypeError):
+        y <= object()
+
+    with pytest.raises(TypeError):
+        y > object()
+
+    with pytest.raises(TypeError):
+        y >= object()
+
+    with pytest.raises(TypeError):
+        y | object()
+
+    with pytest.raises(TypeError):
+        y & object()
+
+    with pytest.raises(TypeError):
+        y ^ object()
+
+    assert int(m.UnscopedEnum.ETwo) == 2
+    assert str(m.UnscopedEnum(2)) == "UnscopedEnum.ETwo"
+
+    # order
+    assert m.UnscopedEnum.EOne < m.UnscopedEnum.ETwo
+    assert m.UnscopedEnum.EOne < 2
+    assert m.UnscopedEnum.ETwo > m.UnscopedEnum.EOne
+    assert m.UnscopedEnum.ETwo > 1
+    assert m.UnscopedEnum.ETwo <= 2
+    assert m.UnscopedEnum.ETwo >= 2
+    assert m.UnscopedEnum.EOne <= m.UnscopedEnum.ETwo
+    assert m.UnscopedEnum.EOne <= 2
+    assert m.UnscopedEnum.ETwo >= m.UnscopedEnum.EOne
+    assert m.UnscopedEnum.ETwo >= 1
+    assert not (m.UnscopedEnum.ETwo < m.UnscopedEnum.EOne)
+    assert not (2 < m.UnscopedEnum.EOne)
+
+    # arithmetic
+    assert m.UnscopedEnum.EOne & m.UnscopedEnum.EThree == m.UnscopedEnum.EOne
+    assert m.UnscopedEnum.EOne | m.UnscopedEnum.ETwo == m.UnscopedEnum.EThree
+    assert m.UnscopedEnum.EOne ^ m.UnscopedEnum.EThree == m.UnscopedEnum.ETwo
+
+
+def test_scoped_enum():
+    assert m.test_scoped_enum(m.ScopedEnum.Three) == "ScopedEnum::Three"
+    z = m.ScopedEnum.Two
+    assert m.test_scoped_enum(z) == "ScopedEnum::Two"
+
+    # Scoped enums will *NOT* accept ==/!= int comparisons (Will always return False)
+    assert not z == 3
+    assert not 3 == z
+    assert z != 3
+    assert 3 != z
+    # Compare with None
+    assert (z != None)  # noqa: E711
+    assert not (z == None)  # noqa: E711
+    # Compare with an object
+    assert (z != object())
+    assert not (z == object())
+    # Scoped enums will *NOT* accept >, <, >= and <= int comparisons (Will throw exceptions)
+    with pytest.raises(TypeError):
+        z > 3
+    with pytest.raises(TypeError):
+        z < 3
+    with pytest.raises(TypeError):
+        z >= 3
+    with pytest.raises(TypeError):
+        z <= 3
+
+    # order
+    assert m.ScopedEnum.Two < m.ScopedEnum.Three
+    assert m.ScopedEnum.Three > m.ScopedEnum.Two
+    assert m.ScopedEnum.Two <= m.ScopedEnum.Three
+    assert m.ScopedEnum.Two <= m.ScopedEnum.Two
+    assert m.ScopedEnum.Two >= m.ScopedEnum.Two
+    assert m.ScopedEnum.Three >= m.ScopedEnum.Two
+
+
+def test_implicit_conversion():
+    assert str(m.ClassWithUnscopedEnum.EMode.EFirstMode) == "EMode.EFirstMode"
+    assert str(m.ClassWithUnscopedEnum.EFirstMode) == "EMode.EFirstMode"
+    assert repr(m.ClassWithUnscopedEnum.EMode.EFirstMode) == "<EMode.EFirstMode: 1>"
+    assert repr(m.ClassWithUnscopedEnum.EFirstMode) == "<EMode.EFirstMode: 1>"
+
+    f = m.ClassWithUnscopedEnum.test_function
+    first = m.ClassWithUnscopedEnum.EFirstMode
+    second = m.ClassWithUnscopedEnum.ESecondMode
+
+    assert f(first) == 1
+
+    assert f(first) == f(first)
+    assert not f(first) != f(first)
+
+    assert f(first) != f(second)
+    assert not f(first) == f(second)
+
+    assert f(first) == int(f(first))
+    assert not f(first) != int(f(first))
+
+    assert f(first) != int(f(second))
+    assert not f(first) == int(f(second))
+
+    # noinspection PyDictCreation
+    x = {f(first): 1, f(second): 2}
+    x[f(first)] = 3
+    x[f(second)] = 4
+    # Hashing test
+    assert repr(x) == "{<EMode.EFirstMode: 1>: 3, <EMode.ESecondMode: 2>: 4}"
+
+
+def test_binary_operators():
+    assert int(m.Flags.Read) == 4
+    assert int(m.Flags.Write) == 2
+    assert int(m.Flags.Execute) == 1
+    assert int(m.Flags.Read | m.Flags.Write | m.Flags.Execute) == 7
+    assert int(m.Flags.Read | m.Flags.Write) == 6
+    assert int(m.Flags.Read | m.Flags.Execute) == 5
+    assert int(m.Flags.Write | m.Flags.Execute) == 3
+    assert int(m.Flags.Write | 1) == 3
+    assert ~m.Flags.Write == -3
+
+    state = m.Flags.Read | m.Flags.Write
+    assert (state & m.Flags.Read) != 0
+    assert (state & m.Flags.Write) != 0
+    assert (state & m.Flags.Execute) == 0
+    assert (state & 1) == 0
+
+    state2 = ~state
+    assert state2 == -7
+    assert int(state ^ state2) == -1
+
+
+def test_enum_to_int():
+    m.test_enum_to_int(m.Flags.Read)
+    m.test_enum_to_int(m.ClassWithUnscopedEnum.EMode.EFirstMode)
+    m.test_enum_to_uint(m.Flags.Read)
+    m.test_enum_to_uint(m.ClassWithUnscopedEnum.EMode.EFirstMode)
+    m.test_enum_to_long_long(m.Flags.Read)
+    m.test_enum_to_long_long(m.ClassWithUnscopedEnum.EMode.EFirstMode)
+
+
+def test_duplicate_enum_name():
+    with pytest.raises(ValueError) as excinfo:
+        m.register_bad_enum()
+    assert str(excinfo.value) == 'SimpleEnum: element "ONE" already exists!'
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.cpp
new file mode 100644
index 0000000..03d0fb3
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.cpp
@@ -0,0 +1,91 @@
+/*
+    tests/test_eval.cpp -- Usage of eval() and eval_file()
+
+    Copyright (c) 2016 Klemens D. Morgenstern
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+
+#include <pybind11/eval.h>
+#include "pybind11_tests.h"
+
+TEST_SUBMODULE(eval_, m) {
+    // test_evals
+
+    auto global = py::dict(py::module_::import("__main__").attr("__dict__"));
+
+    m.def("test_eval_statements", [global]() {
+        auto local = py::dict();
+        local["call_test"] = py::cpp_function([&]() -> int {
+            return 42;
+        });
+
+        // Regular string literal
+        py::exec(
+            "message = 'Hello World!'\n"
+            "x = call_test()",
+            global, local
+        );
+
+        // Multi-line raw string literal
+        py::exec(R"(
+            if x == 42:
+                print(message)
+            else:
+                raise RuntimeError
+            )", global, local
+        );
+        auto x = local["x"].cast<int>();
+
+        return x == 42;
+    });
+
+    m.def("test_eval", [global]() {
+        auto local = py::dict();
+        local["x"] = py::int_(42);
+        auto x = py::eval("x", global, local);
+        return x.cast<int>() == 42;
+    });
+
+    m.def("test_eval_single_statement", []() {
+        auto local = py::dict();
+        local["call_test"] = py::cpp_function([&]() -> int {
+            return 42;
+        });
+
+        auto result = py::eval<py::eval_single_statement>("x = call_test()", py::dict(), local);
+        auto x = local["x"].cast<int>();
+        return result.is_none() && x == 42;
+    });
+
+    m.def("test_eval_file", [global](py::str filename) {
+        auto local = py::dict();
+        local["y"] = py::int_(43);
+
+        int val_out;
+        local["call_test2"] = py::cpp_function([&](int value) { val_out = value; });
+
+        auto result = py::eval_file(filename, global, local);
+        return val_out == 43 && result.is_none();
+    });
+
+    m.def("test_eval_failure", []() {
+        try {
+            py::eval("nonsense code ...");
+        } catch (py::error_already_set &) {
+            return true;
+        }
+        return false;
+    });
+
+    m.def("test_eval_file_failure", []() {
+        try {
+            py::eval_file("non-existing file");
+        } catch (std::exception &) {
+            return true;
+        }
+        return false;
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.py
new file mode 100644
index 0000000..b6f9d18
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval.py
@@ -0,0 +1,27 @@
+# -*- coding: utf-8 -*-
+import os
+
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import eval_ as m
+
+
+def test_evals(capture):
+    with capture:
+        assert m.test_eval_statements()
+    assert capture == "Hello World!"
+
+    assert m.test_eval()
+    assert m.test_eval_single_statement()
+
+    assert m.test_eval_failure()
+
+
+@pytest.mark.xfail("env.PYPY and not env.PY2", raises=RuntimeError)
+def test_eval_file():
+    filename = os.path.join(os.path.dirname(__file__), "test_eval_call.py")
+    assert m.test_eval_file(filename)
+
+    assert m.test_eval_file_failure()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval_call.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval_call.py
new file mode 100644
index 0000000..d42a0a6
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_eval_call.py
@@ -0,0 +1,5 @@
+# -*- coding: utf-8 -*-
+# This file is called from 'test_eval.py'
+
+if 'call_test2' in locals():
+    call_test2(y)  # noqa: F821 undefined name
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_exceptions.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_exceptions.cpp
new file mode 100644
index 0000000..b95ff47
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_exceptions.cpp
@@ -0,0 +1,224 @@
+/*
+    tests/test_custom-exceptions.cpp -- exception translation
+
+    Copyright (c) 2016 Pim Schellart <P.Schellart@princeton.edu>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+// A type that should be raised as an exception in Python
+class MyException : public std::exception {
+public:
+    explicit MyException(const char * m) : message{m} {}
+    const char * what() const noexcept override {return message.c_str();}
+private:
+    std::string message = "";
+};
+
+// A type that should be translated to a standard Python exception
+class MyException2 : public std::exception {
+public:
+    explicit MyException2(const char * m) : message{m} {}
+    const char * what() const noexcept override {return message.c_str();}
+private:
+    std::string message = "";
+};
+
+// A type that is not derived from std::exception (and is thus unknown)
+class MyException3 {
+public:
+    explicit MyException3(const char * m) : message{m} {}
+    virtual const char * what() const noexcept {return message.c_str();}
+private:
+    std::string message = "";
+};
+
+// A type that should be translated to MyException
+// and delegated to its exception translator
+class MyException4 : public std::exception {
+public:
+    explicit MyException4(const char * m) : message{m} {}
+    const char * what() const noexcept override {return message.c_str();}
+private:
+    std::string message = "";
+};
+
+
+// Like the above, but declared via the helper function
+class MyException5 : public std::logic_error {
+public:
+    explicit MyException5(const std::string &what) : std::logic_error(what) {}
+};
+
+// Inherits from MyException5
+class MyException5_1 : public MyException5 {
+    using MyException5::MyException5;
+};
+
+struct PythonCallInDestructor {
+    PythonCallInDestructor(const py::dict &d) : d(d) {}
+    ~PythonCallInDestructor() { d["good"] = true; }
+
+    py::dict d;
+};
+
+
+
+struct PythonAlreadySetInDestructor {
+    PythonAlreadySetInDestructor(const py::str &s) : s(s) {}
+    ~PythonAlreadySetInDestructor() {
+        py::dict foo;
+        try {
+            // Assign to a py::object to force read access of nonexistent dict entry
+            py::object o = foo["bar"];
+        }
+        catch (py::error_already_set& ex) {
+            ex.discard_as_unraisable(s);
+        }
+    }
+
+    py::str s;
+};
+
+
+TEST_SUBMODULE(exceptions, m) {
+    m.def("throw_std_exception", []() {
+        throw std::runtime_error("This exception was intentionally thrown.");
+    });
+
+    // make a new custom exception and use it as a translation target
+    static py::exception<MyException> ex(m, "MyException");
+    py::register_exception_translator([](std::exception_ptr p) {
+        try {
+            if (p) std::rethrow_exception(p);
+        } catch (const MyException &e) {
+            // Set MyException as the active python error
+            ex(e.what());
+        }
+    });
+
+    // register new translator for MyException2
+    // no need to store anything here because this type will
+    // never by visible from Python
+    py::register_exception_translator([](std::exception_ptr p) {
+        try {
+            if (p) std::rethrow_exception(p);
+        } catch (const MyException2 &e) {
+            // Translate this exception to a standard RuntimeError
+            PyErr_SetString(PyExc_RuntimeError, e.what());
+        }
+    });
+
+    // register new translator for MyException4
+    // which will catch it and delegate to the previously registered
+    // translator for MyException by throwing a new exception
+    py::register_exception_translator([](std::exception_ptr p) {
+        try {
+            if (p) std::rethrow_exception(p);
+        } catch (const MyException4 &e) {
+            throw MyException(e.what());
+        }
+    });
+
+    // A simple exception translation:
+    auto ex5 = py::register_exception<MyException5>(m, "MyException5");
+    // A slightly more complicated one that declares MyException5_1 as a subclass of MyException5
+    py::register_exception<MyException5_1>(m, "MyException5_1", ex5.ptr());
+
+    m.def("throws1", []() { throw MyException("this error should go to a custom type"); });
+    m.def("throws2", []() { throw MyException2("this error should go to a standard Python exception"); });
+    m.def("throws3", []() { throw MyException3("this error cannot be translated"); });
+    m.def("throws4", []() { throw MyException4("this error is rethrown"); });
+    m.def("throws5", []() { throw MyException5("this is a helper-defined translated exception"); });
+    m.def("throws5_1", []() { throw MyException5_1("MyException5 subclass"); });
+    m.def("throws_logic_error", []() { throw std::logic_error("this error should fall through to the standard handler"); });
+    m.def("throws_overflow_error", []() {throw std::overflow_error(""); });
+    m.def("exception_matches", []() {
+        py::dict foo;
+        try {
+            // Assign to a py::object to force read access of nonexistent dict entry
+            py::object o = foo["bar"];
+        }
+        catch (py::error_already_set& ex) {
+            if (!ex.matches(PyExc_KeyError)) throw;
+            return true;
+        }
+        return false;
+    });
+    m.def("exception_matches_base", []() {
+        py::dict foo;
+        try {
+            // Assign to a py::object to force read access of nonexistent dict entry
+            py::object o = foo["bar"];
+        }
+        catch (py::error_already_set &ex) {
+            if (!ex.matches(PyExc_Exception)) throw;
+            return true;
+        }
+        return false;
+    });
+    m.def("modulenotfound_exception_matches_base", []() {
+        try {
+            // On Python >= 3.6, this raises a ModuleNotFoundError, a subclass of ImportError
+            py::module_::import("nonexistent");
+        }
+        catch (py::error_already_set &ex) {
+            if (!ex.matches(PyExc_ImportError)) throw;
+            return true;
+        }
+        return false;
+    });
+
+    m.def("throw_already_set", [](bool err) {
+        if (err)
+            PyErr_SetString(PyExc_ValueError, "foo");
+        try {
+            throw py::error_already_set();
+        } catch (const std::runtime_error& e) {
+            if ((err && e.what() != std::string("ValueError: foo")) ||
+                (!err && e.what() != std::string("Unknown internal error occurred")))
+            {
+                PyErr_Clear();
+                throw std::runtime_error("error message mismatch");
+            }
+        }
+        PyErr_Clear();
+        if (err)
+            PyErr_SetString(PyExc_ValueError, "foo");
+        throw py::error_already_set();
+    });
+
+    m.def("python_call_in_destructor", [](py::dict d) {
+        try {
+            PythonCallInDestructor set_dict_in_destructor(d);
+            PyErr_SetString(PyExc_ValueError, "foo");
+            throw py::error_already_set();
+        } catch (const py::error_already_set&) {
+            return true;
+        }
+        return false;
+    });
+
+    m.def("python_alreadyset_in_destructor", [](py::str s) {
+        PythonAlreadySetInDestructor alreadyset_in_destructor(s);
+        return true;
+    });
+
+    // test_nested_throws
+    m.def("try_catch", [m](py::object exc_type, py::function f, py::args args) {
+        try { f(*args); }
+        catch (py::error_already_set &ex) {
+            if (ex.matches(exc_type))
+                py::print(ex.what());
+            else
+                throw;
+        }
+    });
+
+    // Test repr that cannot be displayed
+    m.def("simple_bool_passthrough", [](bool x) {return x;});
+
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_exceptions.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_exceptions.py
new file mode 100644
index 0000000..7d7088d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_exceptions.py
@@ -0,0 +1,191 @@
+# -*- coding: utf-8 -*-
+import sys
+
+import pytest
+
+from pybind11_tests import exceptions as m
+import pybind11_cross_module_tests as cm
+
+
+def test_std_exception(msg):
+    with pytest.raises(RuntimeError) as excinfo:
+        m.throw_std_exception()
+    assert msg(excinfo.value) == "This exception was intentionally thrown."
+
+
+def test_error_already_set(msg):
+    with pytest.raises(RuntimeError) as excinfo:
+        m.throw_already_set(False)
+    assert msg(excinfo.value) == "Unknown internal error occurred"
+
+    with pytest.raises(ValueError) as excinfo:
+        m.throw_already_set(True)
+    assert msg(excinfo.value) == "foo"
+
+
+def test_cross_module_exceptions():
+    with pytest.raises(RuntimeError) as excinfo:
+        cm.raise_runtime_error()
+    assert str(excinfo.value) == "My runtime error"
+
+    with pytest.raises(ValueError) as excinfo:
+        cm.raise_value_error()
+    assert str(excinfo.value) == "My value error"
+
+    with pytest.raises(ValueError) as excinfo:
+        cm.throw_pybind_value_error()
+    assert str(excinfo.value) == "pybind11 value error"
+
+    with pytest.raises(TypeError) as excinfo:
+        cm.throw_pybind_type_error()
+    assert str(excinfo.value) == "pybind11 type error"
+
+    with pytest.raises(StopIteration) as excinfo:
+        cm.throw_stop_iteration()
+
+
+def test_python_call_in_catch():
+    d = {}
+    assert m.python_call_in_destructor(d) is True
+    assert d["good"] is True
+
+
+def test_python_alreadyset_in_destructor(monkeypatch, capsys):
+    hooked = False
+    triggered = [False]  # mutable, so Python 2.7 closure can modify it
+
+    if hasattr(sys, 'unraisablehook'):  # Python 3.8+
+        hooked = True
+        default_hook = sys.unraisablehook
+
+        def hook(unraisable_hook_args):
+            exc_type, exc_value, exc_tb, err_msg, obj = unraisable_hook_args
+            if obj == 'already_set demo':
+                triggered[0] = True
+            default_hook(unraisable_hook_args)
+            return
+
+        # Use monkeypatch so pytest can apply and remove the patch as appropriate
+        monkeypatch.setattr(sys, 'unraisablehook', hook)
+
+    assert m.python_alreadyset_in_destructor('already_set demo') is True
+    if hooked:
+        assert triggered[0] is True
+
+    _, captured_stderr = capsys.readouterr()
+    # Error message is different in Python 2 and 3, check for words that appear in both
+    assert 'ignored' in captured_stderr and 'already_set demo' in captured_stderr
+
+
+def test_exception_matches():
+    assert m.exception_matches()
+    assert m.exception_matches_base()
+    assert m.modulenotfound_exception_matches_base()
+
+
+def test_custom(msg):
+    # Can we catch a MyException?
+    with pytest.raises(m.MyException) as excinfo:
+        m.throws1()
+    assert msg(excinfo.value) == "this error should go to a custom type"
+
+    # Can we translate to standard Python exceptions?
+    with pytest.raises(RuntimeError) as excinfo:
+        m.throws2()
+    assert msg(excinfo.value) == "this error should go to a standard Python exception"
+
+    # Can we handle unknown exceptions?
+    with pytest.raises(RuntimeError) as excinfo:
+        m.throws3()
+    assert msg(excinfo.value) == "Caught an unknown exception!"
+
+    # Can we delegate to another handler by rethrowing?
+    with pytest.raises(m.MyException) as excinfo:
+        m.throws4()
+    assert msg(excinfo.value) == "this error is rethrown"
+
+    # Can we fall-through to the default handler?
+    with pytest.raises(RuntimeError) as excinfo:
+        m.throws_logic_error()
+    assert msg(excinfo.value) == "this error should fall through to the standard handler"
+
+    # OverFlow error translation.
+    with pytest.raises(OverflowError) as excinfo:
+        m.throws_overflow_error()
+
+    # Can we handle a helper-declared exception?
+    with pytest.raises(m.MyException5) as excinfo:
+        m.throws5()
+    assert msg(excinfo.value) == "this is a helper-defined translated exception"
+
+    # Exception subclassing:
+    with pytest.raises(m.MyException5) as excinfo:
+        m.throws5_1()
+    assert msg(excinfo.value) == "MyException5 subclass"
+    assert isinstance(excinfo.value, m.MyException5_1)
+
+    with pytest.raises(m.MyException5_1) as excinfo:
+        m.throws5_1()
+    assert msg(excinfo.value) == "MyException5 subclass"
+
+    with pytest.raises(m.MyException5) as excinfo:
+        try:
+            m.throws5()
+        except m.MyException5_1:
+            raise RuntimeError("Exception error: caught child from parent")
+    assert msg(excinfo.value) == "this is a helper-defined translated exception"
+
+
+def test_nested_throws(capture):
+    """Tests nested (e.g. C++ -> Python -> C++) exception handling"""
+
+    def throw_myex():
+        raise m.MyException("nested error")
+
+    def throw_myex5():
+        raise m.MyException5("nested error 5")
+
+    # In the comments below, the exception is caught in the first step, thrown in the last step
+
+    # C++ -> Python
+    with capture:
+        m.try_catch(m.MyException5, throw_myex5)
+    assert str(capture).startswith("MyException5: nested error 5")
+
+    # Python -> C++ -> Python
+    with pytest.raises(m.MyException) as excinfo:
+        m.try_catch(m.MyException5, throw_myex)
+    assert str(excinfo.value) == "nested error"
+
+    def pycatch(exctype, f, *args):
+        try:
+            f(*args)
+        except m.MyException as e:
+            print(e)
+
+    # C++ -> Python -> C++ -> Python
+    with capture:
+        m.try_catch(
+            m.MyException5, pycatch, m.MyException, m.try_catch, m.MyException, throw_myex5)
+    assert str(capture).startswith("MyException5: nested error 5")
+
+    # C++ -> Python -> C++
+    with capture:
+        m.try_catch(m.MyException, pycatch, m.MyException5, m.throws4)
+    assert capture == "this error is rethrown"
+
+    # Python -> C++ -> Python -> C++
+    with pytest.raises(m.MyException5) as excinfo:
+        m.try_catch(m.MyException, pycatch, m.MyException, m.throws5)
+    assert str(excinfo.value) == "this is a helper-defined translated exception"
+
+
+# This can often happen if you wrap a pybind11 class in a Python wrapper
+def test_invalid_repr():
+
+    class MyRepr(object):
+        def __repr__(self):
+            raise AttributeError("Example error")
+
+    with pytest.raises(TypeError):
+        m.simple_bool_passthrough(MyRepr())
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_factory_constructors.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_factory_constructors.cpp
new file mode 100644
index 0000000..f42d1f2
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_factory_constructors.cpp
@@ -0,0 +1,343 @@
+/*
+    tests/test_factory_constructors.cpp -- tests construction from a factory function
+                                           via py::init_factory()
+
+    Copyright (c) 2017 Jason Rhinelander <jason@imaginary.ca>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <cmath>
+#include <new>
+
+// Classes for testing python construction via C++ factory function:
+// Not publicly constructible, copyable, or movable:
+class TestFactory1 {
+    friend class TestFactoryHelper;
+    TestFactory1() : value("(empty)") { print_default_created(this); }
+    TestFactory1(int v) : value(std::to_string(v)) { print_created(this, value); }
+    TestFactory1(std::string v) : value(std::move(v)) { print_created(this, value); }
+    TestFactory1(TestFactory1 &&) = delete;
+    TestFactory1(const TestFactory1 &) = delete;
+    TestFactory1 &operator=(TestFactory1 &&) = delete;
+    TestFactory1 &operator=(const TestFactory1 &) = delete;
+public:
+    std::string value;
+    ~TestFactory1() { print_destroyed(this); }
+};
+// Non-public construction, but moveable:
+class TestFactory2 {
+    friend class TestFactoryHelper;
+    TestFactory2() : value("(empty2)") { print_default_created(this); }
+    TestFactory2(int v) : value(std::to_string(v)) { print_created(this, value); }
+    TestFactory2(std::string v) : value(std::move(v)) { print_created(this, value); }
+public:
+    TestFactory2(TestFactory2 &&m) { value = std::move(m.value); print_move_created(this); }
+    TestFactory2 &operator=(TestFactory2 &&m) { value = std::move(m.value); print_move_assigned(this); return *this; }
+    std::string value;
+    ~TestFactory2() { print_destroyed(this); }
+};
+// Mixed direct/factory construction:
+class TestFactory3 {
+protected:
+    friend class TestFactoryHelper;
+    TestFactory3() : value("(empty3)") { print_default_created(this); }
+    TestFactory3(int v) : value(std::to_string(v)) { print_created(this, value); }
+public:
+    TestFactory3(std::string v) : value(std::move(v)) { print_created(this, value); }
+    TestFactory3(TestFactory3 &&m) { value = std::move(m.value); print_move_created(this); }
+    TestFactory3 &operator=(TestFactory3 &&m) { value = std::move(m.value); print_move_assigned(this); return *this; }
+    std::string value;
+    virtual ~TestFactory3() { print_destroyed(this); }
+};
+// Inheritance test
+class TestFactory4 : public TestFactory3 {
+public:
+    TestFactory4() : TestFactory3() { print_default_created(this); }
+    TestFactory4(int v) : TestFactory3(v) { print_created(this, v); }
+    ~TestFactory4() override { print_destroyed(this); }
+};
+// Another class for an invalid downcast test
+class TestFactory5 : public TestFactory3 {
+public:
+    TestFactory5(int i) : TestFactory3(i) { print_created(this, i); }
+    ~TestFactory5() override { print_destroyed(this); }
+};
+
+class TestFactory6 {
+protected:
+    int value;
+    bool alias = false;
+public:
+    TestFactory6(int i) : value{i} { print_created(this, i); }
+    TestFactory6(TestFactory6 &&f) { print_move_created(this); value = f.value; alias = f.alias; }
+    TestFactory6(const TestFactory6 &f) { print_copy_created(this); value = f.value; alias = f.alias; }
+    virtual ~TestFactory6() { print_destroyed(this); }
+    virtual int get() { return value; }
+    bool has_alias() { return alias; }
+};
+class PyTF6 : public TestFactory6 {
+public:
+    // Special constructor that allows the factory to construct a PyTF6 from a TestFactory6 only
+    // when an alias is needed:
+    PyTF6(TestFactory6 &&base) : TestFactory6(std::move(base)) { alias = true; print_created(this, "move", value); }
+    PyTF6(int i) : TestFactory6(i) { alias = true; print_created(this, i); }
+    PyTF6(PyTF6 &&f) : TestFactory6(std::move(f)) { print_move_created(this); }
+    PyTF6(const PyTF6 &f) : TestFactory6(f) { print_copy_created(this); }
+    PyTF6(std::string s) : TestFactory6((int) s.size()) { alias = true; print_created(this, s); }
+    ~PyTF6() override { print_destroyed(this); }
+    int get() override { PYBIND11_OVERRIDE(int, TestFactory6, get, /*no args*/); }
+};
+
+class TestFactory7 {
+protected:
+    int value;
+    bool alias = false;
+public:
+    TestFactory7(int i) : value{i} { print_created(this, i); }
+    TestFactory7(TestFactory7 &&f) { print_move_created(this); value = f.value; alias = f.alias; }
+    TestFactory7(const TestFactory7 &f) { print_copy_created(this); value = f.value; alias = f.alias; }
+    virtual ~TestFactory7() { print_destroyed(this); }
+    virtual int get() { return value; }
+    bool has_alias() { return alias; }
+};
+class PyTF7 : public TestFactory7 {
+public:
+    PyTF7(int i) : TestFactory7(i) { alias = true; print_created(this, i); }
+    PyTF7(PyTF7 &&f) : TestFactory7(std::move(f)) { print_move_created(this); }
+    PyTF7(const PyTF7 &f) : TestFactory7(f) { print_copy_created(this); }
+    ~PyTF7() override { print_destroyed(this); }
+    int get() override { PYBIND11_OVERRIDE(int, TestFactory7, get, /*no args*/); }
+};
+
+
+class TestFactoryHelper {
+public:
+    // Non-movable, non-copyable type:
+    // Return via pointer:
+    static TestFactory1 *construct1() { return new TestFactory1(); }
+    // Holder:
+    static std::unique_ptr<TestFactory1> construct1(int a) { return std::unique_ptr<TestFactory1>(new TestFactory1(a)); }
+    // pointer again
+    static TestFactory1 *construct1_string(std::string a) { return new TestFactory1(a); }
+
+    // Moveable type:
+    // pointer:
+    static TestFactory2 *construct2() { return new TestFactory2(); }
+    // holder:
+    static std::unique_ptr<TestFactory2> construct2(int a) { return std::unique_ptr<TestFactory2>(new TestFactory2(a)); }
+    // by value moving:
+    static TestFactory2 construct2(std::string a) { return TestFactory2(a); }
+
+    // shared_ptr holder type:
+    // pointer:
+    static TestFactory3 *construct3() { return new TestFactory3(); }
+    // holder:
+    static std::shared_ptr<TestFactory3> construct3(int a) { return std::shared_ptr<TestFactory3>(new TestFactory3(a)); }
+};
+
+TEST_SUBMODULE(factory_constructors, m) {
+
+    // Define various trivial types to allow simpler overload resolution:
+    py::module_ m_tag = m.def_submodule("tag");
+#define MAKE_TAG_TYPE(Name) \
+    struct Name##_tag {}; \
+    py::class_<Name##_tag>(m_tag, #Name "_tag").def(py::init<>()); \
+    m_tag.attr(#Name) = py::cast(Name##_tag{})
+    MAKE_TAG_TYPE(pointer);
+    MAKE_TAG_TYPE(unique_ptr);
+    MAKE_TAG_TYPE(move);
+    MAKE_TAG_TYPE(shared_ptr);
+    MAKE_TAG_TYPE(derived);
+    MAKE_TAG_TYPE(TF4);
+    MAKE_TAG_TYPE(TF5);
+    MAKE_TAG_TYPE(null_ptr);
+    MAKE_TAG_TYPE(null_unique_ptr);
+    MAKE_TAG_TYPE(null_shared_ptr);
+    MAKE_TAG_TYPE(base);
+    MAKE_TAG_TYPE(invalid_base);
+    MAKE_TAG_TYPE(alias);
+    MAKE_TAG_TYPE(unaliasable);
+    MAKE_TAG_TYPE(mixed);
+
+    // test_init_factory_basic, test_bad_type
+    py::class_<TestFactory1>(m, "TestFactory1")
+        .def(py::init([](unique_ptr_tag, int v) { return TestFactoryHelper::construct1(v); }))
+        .def(py::init(&TestFactoryHelper::construct1_string)) // raw function pointer
+        .def(py::init([](pointer_tag) { return TestFactoryHelper::construct1(); }))
+        .def(py::init([](py::handle, int v, py::handle) { return TestFactoryHelper::construct1(v); }))
+        .def_readwrite("value", &TestFactory1::value)
+        ;
+    py::class_<TestFactory2>(m, "TestFactory2")
+        .def(py::init([](pointer_tag, int v) { return TestFactoryHelper::construct2(v); }))
+        .def(py::init([](unique_ptr_tag, std::string v) { return TestFactoryHelper::construct2(v); }))
+        .def(py::init([](move_tag) { return TestFactoryHelper::construct2(); }))
+        .def_readwrite("value", &TestFactory2::value)
+        ;
+
+    // Stateful & reused:
+    int c = 1;
+    auto c4a = [c](pointer_tag, TF4_tag, int a) { (void) c; return new TestFactory4(a);};
+
+    // test_init_factory_basic, test_init_factory_casting
+    py::class_<TestFactory3, std::shared_ptr<TestFactory3>>(m, "TestFactory3")
+        .def(py::init([](pointer_tag, int v) { return TestFactoryHelper::construct3(v); }))
+        .def(py::init([](shared_ptr_tag) { return TestFactoryHelper::construct3(); }))
+        .def("__init__", [](TestFactory3 &self, std::string v) { new (&self) TestFactory3(v); }) // placement-new ctor
+
+        // factories returning a derived type:
+        .def(py::init(c4a)) // derived ptr
+        .def(py::init([](pointer_tag, TF5_tag, int a) { return new TestFactory5(a); }))
+        // derived shared ptr:
+        .def(py::init([](shared_ptr_tag, TF4_tag, int a) { return std::make_shared<TestFactory4>(a); }))
+        .def(py::init([](shared_ptr_tag, TF5_tag, int a) { return std::make_shared<TestFactory5>(a); }))
+
+        // Returns nullptr:
+        .def(py::init([](null_ptr_tag) { return (TestFactory3 *) nullptr; }))
+        .def(py::init([](null_unique_ptr_tag) { return std::unique_ptr<TestFactory3>(); }))
+        .def(py::init([](null_shared_ptr_tag) { return std::shared_ptr<TestFactory3>(); }))
+
+        .def_readwrite("value", &TestFactory3::value)
+        ;
+
+    // test_init_factory_casting
+    py::class_<TestFactory4, TestFactory3, std::shared_ptr<TestFactory4>>(m, "TestFactory4")
+        .def(py::init(c4a)) // pointer
+        ;
+
+    // Doesn't need to be registered, but registering makes getting ConstructorStats easier:
+    py::class_<TestFactory5, TestFactory3, std::shared_ptr<TestFactory5>>(m, "TestFactory5");
+
+    // test_init_factory_alias
+    // Alias testing
+    py::class_<TestFactory6, PyTF6>(m, "TestFactory6")
+        .def(py::init([](base_tag, int i) { return TestFactory6(i); }))
+        .def(py::init([](alias_tag, int i) { return PyTF6(i); }))
+        .def(py::init([](alias_tag, std::string s) { return PyTF6(s); }))
+        .def(py::init([](alias_tag, pointer_tag, int i) { return new PyTF6(i); }))
+        .def(py::init([](base_tag, pointer_tag, int i) { return new TestFactory6(i); }))
+        .def(py::init([](base_tag, alias_tag, pointer_tag, int i) { return (TestFactory6 *) new PyTF6(i); }))
+
+        .def("get", &TestFactory6::get)
+        .def("has_alias", &TestFactory6::has_alias)
+
+        .def_static("get_cstats", &ConstructorStats::get<TestFactory6>, py::return_value_policy::reference)
+        .def_static("get_alias_cstats", &ConstructorStats::get<PyTF6>, py::return_value_policy::reference)
+        ;
+
+    // test_init_factory_dual
+    // Separate alias constructor testing
+    py::class_<TestFactory7, PyTF7, std::shared_ptr<TestFactory7>>(m, "TestFactory7")
+        .def(py::init(
+            [](int i) { return TestFactory7(i); },
+            [](int i) { return PyTF7(i); }))
+        .def(py::init(
+            [](pointer_tag, int i) { return new TestFactory7(i); },
+            [](pointer_tag, int i) { return new PyTF7(i); }))
+        .def(py::init(
+            [](mixed_tag, int i) { return new TestFactory7(i); },
+            [](mixed_tag, int i) { return PyTF7(i); }))
+        .def(py::init(
+            [](mixed_tag, std::string s) { return TestFactory7((int) s.size()); },
+            [](mixed_tag, std::string s) { return new PyTF7((int) s.size()); }))
+        .def(py::init(
+            [](base_tag, pointer_tag, int i) { return new TestFactory7(i); },
+            [](base_tag, pointer_tag, int i) { return (TestFactory7 *) new PyTF7(i); }))
+        .def(py::init(
+            [](alias_tag, pointer_tag, int i) { return new PyTF7(i); },
+            [](alias_tag, pointer_tag, int i) { return new PyTF7(10*i); }))
+        .def(py::init(
+            [](shared_ptr_tag, base_tag, int i) { return std::make_shared<TestFactory7>(i); },
+            [](shared_ptr_tag, base_tag, int i) { auto *p = new PyTF7(i); return std::shared_ptr<TestFactory7>(p); }))
+        .def(py::init(
+            [](shared_ptr_tag, invalid_base_tag, int i) { return std::make_shared<TestFactory7>(i); },
+            [](shared_ptr_tag, invalid_base_tag, int i) { return std::make_shared<TestFactory7>(i); })) // <-- invalid alias factory
+
+        .def("get", &TestFactory7::get)
+        .def("has_alias", &TestFactory7::has_alias)
+
+        .def_static("get_cstats", &ConstructorStats::get<TestFactory7>, py::return_value_policy::reference)
+        .def_static("get_alias_cstats", &ConstructorStats::get<PyTF7>, py::return_value_policy::reference)
+        ;
+
+    // test_placement_new_alternative
+    // Class with a custom new operator but *without* a placement new operator (issue #948)
+    class NoPlacementNew {
+    public:
+        NoPlacementNew(int i) : i(i) { }
+        static void *operator new(std::size_t s) {
+            auto *p = ::operator new(s);
+            py::print("operator new called, returning", reinterpret_cast<uintptr_t>(p));
+            return p;
+        }
+        static void operator delete(void *p) {
+            py::print("operator delete called on", reinterpret_cast<uintptr_t>(p));
+            ::operator delete(p);
+        }
+        int i;
+    };
+    // As of 2.2, `py::init<args>` no longer requires placement new
+    py::class_<NoPlacementNew>(m, "NoPlacementNew")
+        .def(py::init<int>())
+        .def(py::init([]() { return new NoPlacementNew(100); }))
+        .def_readwrite("i", &NoPlacementNew::i)
+        ;
+
+
+    // test_reallocations
+    // Class that has verbose operator_new/operator_delete calls
+    struct NoisyAlloc {
+        NoisyAlloc(const NoisyAlloc &) = default;
+        NoisyAlloc(int i) { py::print(py::str("NoisyAlloc(int {})").format(i)); }
+        NoisyAlloc(double d) { py::print(py::str("NoisyAlloc(double {})").format(d)); }
+        ~NoisyAlloc() { py::print("~NoisyAlloc()"); }
+
+        static void *operator new(size_t s) { py::print("noisy new"); return ::operator new(s); }
+        static void *operator new(size_t, void *p) { py::print("noisy placement new"); return p; }
+        static void operator delete(void *p, size_t) { py::print("noisy delete"); ::operator delete(p); }
+        static void operator delete(void *, void *) { py::print("noisy placement delete"); }
+#if defined(_MSC_VER) && _MSC_VER < 1910
+        // MSVC 2015 bug: the above "noisy delete" isn't invoked (fixed in MSVC 2017)
+        static void operator delete(void *p) { py::print("noisy delete"); ::operator delete(p); }
+#endif
+    };
+    py::class_<NoisyAlloc>(m, "NoisyAlloc")
+        // Since these overloads have the same number of arguments, the dispatcher will try each of
+        // them until the arguments convert.  Thus we can get a pre-allocation here when passing a
+        // single non-integer:
+        .def("__init__", [](NoisyAlloc *a, int i) { new (a) NoisyAlloc(i); }) // Regular constructor, runs first, requires preallocation
+        .def(py::init([](double d) { return new NoisyAlloc(d); }))
+
+        // The two-argument version: first the factory pointer overload.
+        .def(py::init([](int i, int) { return new NoisyAlloc(i); }))
+        // Return-by-value:
+        .def(py::init([](double d, int) { return NoisyAlloc(d); }))
+        // Old-style placement new init; requires preallocation
+        .def("__init__", [](NoisyAlloc &a, double d, double) { new (&a) NoisyAlloc(d); })
+        // Requires deallocation of previous overload preallocated value:
+        .def(py::init([](int i, double) { return new NoisyAlloc(i); }))
+        // Regular again: requires yet another preallocation
+        .def("__init__", [](NoisyAlloc &a, int i, std::string) { new (&a) NoisyAlloc(i); })
+        ;
+
+
+
+
+    // static_assert testing (the following def's should all fail with appropriate compilation errors):
+#if 0
+    struct BadF1Base {};
+    struct BadF1 : BadF1Base {};
+    struct PyBadF1 : BadF1 {};
+    py::class_<BadF1, PyBadF1, std::shared_ptr<BadF1>> bf1(m, "BadF1");
+    // wrapped factory function must return a compatible pointer, holder, or value
+    bf1.def(py::init([]() { return 3; }));
+    // incompatible factory function pointer return type
+    bf1.def(py::init([]() { static int three = 3; return &three; }));
+    // incompatible factory function std::shared_ptr<T> return type: cannot convert shared_ptr<T> to holder
+    // (non-polymorphic base)
+    bf1.def(py::init([]() { return std::shared_ptr<BadF1Base>(new BadF1()); }));
+#endif
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_factory_constructors.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_factory_constructors.py
new file mode 100644
index 0000000..b141c13
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_factory_constructors.py
@@ -0,0 +1,478 @@
+# -*- coding: utf-8 -*-
+import pytest
+import re
+
+import env  # noqa: F401
+
+from pybind11_tests import factory_constructors as m
+from pybind11_tests.factory_constructors import tag
+from pybind11_tests import ConstructorStats
+
+
+def test_init_factory_basic():
+    """Tests py::init_factory() wrapper around various ways of returning the object"""
+
+    cstats = [ConstructorStats.get(c) for c in [m.TestFactory1, m.TestFactory2, m.TestFactory3]]
+    cstats[0].alive()  # force gc
+    n_inst = ConstructorStats.detail_reg_inst()
+
+    x1 = m.TestFactory1(tag.unique_ptr, 3)
+    assert x1.value == "3"
+    y1 = m.TestFactory1(tag.pointer)
+    assert y1.value == "(empty)"
+    z1 = m.TestFactory1("hi!")
+    assert z1.value == "hi!"
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 3
+
+    x2 = m.TestFactory2(tag.move)
+    assert x2.value == "(empty2)"
+    y2 = m.TestFactory2(tag.pointer, 7)
+    assert y2.value == "7"
+    z2 = m.TestFactory2(tag.unique_ptr, "hi again")
+    assert z2.value == "hi again"
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 6
+
+    x3 = m.TestFactory3(tag.shared_ptr)
+    assert x3.value == "(empty3)"
+    y3 = m.TestFactory3(tag.pointer, 42)
+    assert y3.value == "42"
+    z3 = m.TestFactory3("bye")
+    assert z3.value == "bye"
+
+    for null_ptr_kind in [tag.null_ptr,
+                          tag.null_unique_ptr,
+                          tag.null_shared_ptr]:
+        with pytest.raises(TypeError) as excinfo:
+            m.TestFactory3(null_ptr_kind)
+        assert str(excinfo.value) == "pybind11::init(): factory function returned nullptr"
+
+    assert [i.alive() for i in cstats] == [3, 3, 3]
+    assert ConstructorStats.detail_reg_inst() == n_inst + 9
+
+    del x1, y2, y3, z3
+    assert [i.alive() for i in cstats] == [2, 2, 1]
+    assert ConstructorStats.detail_reg_inst() == n_inst + 5
+    del x2, x3, y1, z1, z2
+    assert [i.alive() for i in cstats] == [0, 0, 0]
+    assert ConstructorStats.detail_reg_inst() == n_inst
+
+    assert [i.values() for i in cstats] == [
+        ["3", "hi!"],
+        ["7", "hi again"],
+        ["42", "bye"]
+    ]
+    assert [i.default_constructions for i in cstats] == [1, 1, 1]
+
+
+def test_init_factory_signature(msg):
+    with pytest.raises(TypeError) as excinfo:
+        m.TestFactory1("invalid", "constructor", "arguments")
+    assert msg(excinfo.value) == """
+        __init__(): incompatible constructor arguments. The following argument types are supported:
+            1. m.factory_constructors.TestFactory1(arg0: m.factory_constructors.tag.unique_ptr_tag, arg1: int)
+            2. m.factory_constructors.TestFactory1(arg0: str)
+            3. m.factory_constructors.TestFactory1(arg0: m.factory_constructors.tag.pointer_tag)
+            4. m.factory_constructors.TestFactory1(arg0: handle, arg1: int, arg2: handle)
+
+        Invoked with: 'invalid', 'constructor', 'arguments'
+    """  # noqa: E501 line too long
+
+    assert msg(m.TestFactory1.__init__.__doc__) == """
+        __init__(*args, **kwargs)
+        Overloaded function.
+
+        1. __init__(self: m.factory_constructors.TestFactory1, arg0: m.factory_constructors.tag.unique_ptr_tag, arg1: int) -> None
+
+        2. __init__(self: m.factory_constructors.TestFactory1, arg0: str) -> None
+
+        3. __init__(self: m.factory_constructors.TestFactory1, arg0: m.factory_constructors.tag.pointer_tag) -> None
+
+        4. __init__(self: m.factory_constructors.TestFactory1, arg0: handle, arg1: int, arg2: handle) -> None
+    """  # noqa: E501 line too long
+
+
+def test_init_factory_casting():
+    """Tests py::init_factory() wrapper with various upcasting and downcasting returns"""
+
+    cstats = [ConstructorStats.get(c) for c in [m.TestFactory3, m.TestFactory4, m.TestFactory5]]
+    cstats[0].alive()  # force gc
+    n_inst = ConstructorStats.detail_reg_inst()
+
+    # Construction from derived references:
+    a = m.TestFactory3(tag.pointer, tag.TF4, 4)
+    assert a.value == "4"
+    b = m.TestFactory3(tag.shared_ptr, tag.TF4, 5)
+    assert b.value == "5"
+    c = m.TestFactory3(tag.pointer, tag.TF5, 6)
+    assert c.value == "6"
+    d = m.TestFactory3(tag.shared_ptr, tag.TF5, 7)
+    assert d.value == "7"
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 4
+
+    # Shared a lambda with TF3:
+    e = m.TestFactory4(tag.pointer, tag.TF4, 8)
+    assert e.value == "8"
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 5
+    assert [i.alive() for i in cstats] == [5, 3, 2]
+
+    del a
+    assert [i.alive() for i in cstats] == [4, 2, 2]
+    assert ConstructorStats.detail_reg_inst() == n_inst + 4
+
+    del b, c, e
+    assert [i.alive() for i in cstats] == [1, 0, 1]
+    assert ConstructorStats.detail_reg_inst() == n_inst + 1
+
+    del d
+    assert [i.alive() for i in cstats] == [0, 0, 0]
+    assert ConstructorStats.detail_reg_inst() == n_inst
+
+    assert [i.values() for i in cstats] == [
+        ["4", "5", "6", "7", "8"],
+        ["4", "5", "8"],
+        ["6", "7"]
+    ]
+
+
+def test_init_factory_alias():
+    """Tests py::init_factory() wrapper with value conversions and alias types"""
+
+    cstats = [m.TestFactory6.get_cstats(), m.TestFactory6.get_alias_cstats()]
+    cstats[0].alive()  # force gc
+    n_inst = ConstructorStats.detail_reg_inst()
+
+    a = m.TestFactory6(tag.base, 1)
+    assert a.get() == 1
+    assert not a.has_alias()
+    b = m.TestFactory6(tag.alias, "hi there")
+    assert b.get() == 8
+    assert b.has_alias()
+    c = m.TestFactory6(tag.alias, 3)
+    assert c.get() == 3
+    assert c.has_alias()
+    d = m.TestFactory6(tag.alias, tag.pointer, 4)
+    assert d.get() == 4
+    assert d.has_alias()
+    e = m.TestFactory6(tag.base, tag.pointer, 5)
+    assert e.get() == 5
+    assert not e.has_alias()
+    f = m.TestFactory6(tag.base, tag.alias, tag.pointer, 6)
+    assert f.get() == 6
+    assert f.has_alias()
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 6
+    assert [i.alive() for i in cstats] == [6, 4]
+
+    del a, b, e
+    assert [i.alive() for i in cstats] == [3, 3]
+    assert ConstructorStats.detail_reg_inst() == n_inst + 3
+    del f, c, d
+    assert [i.alive() for i in cstats] == [0, 0]
+    assert ConstructorStats.detail_reg_inst() == n_inst
+
+    class MyTest(m.TestFactory6):
+        def __init__(self, *args):
+            m.TestFactory6.__init__(self, *args)
+
+        def get(self):
+            return -5 + m.TestFactory6.get(self)
+
+    # Return Class by value, moved into new alias:
+    z = MyTest(tag.base, 123)
+    assert z.get() == 118
+    assert z.has_alias()
+
+    # Return alias by value, moved into new alias:
+    y = MyTest(tag.alias, "why hello!")
+    assert y.get() == 5
+    assert y.has_alias()
+
+    # Return Class by pointer, moved into new alias then original destroyed:
+    x = MyTest(tag.base, tag.pointer, 47)
+    assert x.get() == 42
+    assert x.has_alias()
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 3
+    assert [i.alive() for i in cstats] == [3, 3]
+    del x, y, z
+    assert [i.alive() for i in cstats] == [0, 0]
+    assert ConstructorStats.detail_reg_inst() == n_inst
+
+    assert [i.values() for i in cstats] == [
+        ["1", "8", "3", "4", "5", "6", "123", "10", "47"],
+        ["hi there", "3", "4", "6", "move", "123", "why hello!", "move", "47"]
+    ]
+
+
+def test_init_factory_dual():
+    """Tests init factory functions with dual main/alias factory functions"""
+    from pybind11_tests.factory_constructors import TestFactory7
+
+    cstats = [TestFactory7.get_cstats(), TestFactory7.get_alias_cstats()]
+    cstats[0].alive()  # force gc
+    n_inst = ConstructorStats.detail_reg_inst()
+
+    class PythFactory7(TestFactory7):
+        def get(self):
+            return 100 + TestFactory7.get(self)
+
+    a1 = TestFactory7(1)
+    a2 = PythFactory7(2)
+    assert a1.get() == 1
+    assert a2.get() == 102
+    assert not a1.has_alias()
+    assert a2.has_alias()
+
+    b1 = TestFactory7(tag.pointer, 3)
+    b2 = PythFactory7(tag.pointer, 4)
+    assert b1.get() == 3
+    assert b2.get() == 104
+    assert not b1.has_alias()
+    assert b2.has_alias()
+
+    c1 = TestFactory7(tag.mixed, 5)
+    c2 = PythFactory7(tag.mixed, 6)
+    assert c1.get() == 5
+    assert c2.get() == 106
+    assert not c1.has_alias()
+    assert c2.has_alias()
+
+    d1 = TestFactory7(tag.base, tag.pointer, 7)
+    d2 = PythFactory7(tag.base, tag.pointer, 8)
+    assert d1.get() == 7
+    assert d2.get() == 108
+    assert not d1.has_alias()
+    assert d2.has_alias()
+
+    # Both return an alias; the second multiplies the value by 10:
+    e1 = TestFactory7(tag.alias, tag.pointer, 9)
+    e2 = PythFactory7(tag.alias, tag.pointer, 10)
+    assert e1.get() == 9
+    assert e2.get() == 200
+    assert e1.has_alias()
+    assert e2.has_alias()
+
+    f1 = TestFactory7(tag.shared_ptr, tag.base, 11)
+    f2 = PythFactory7(tag.shared_ptr, tag.base, 12)
+    assert f1.get() == 11
+    assert f2.get() == 112
+    assert not f1.has_alias()
+    assert f2.has_alias()
+
+    g1 = TestFactory7(tag.shared_ptr, tag.invalid_base, 13)
+    assert g1.get() == 13
+    assert not g1.has_alias()
+    with pytest.raises(TypeError) as excinfo:
+        PythFactory7(tag.shared_ptr, tag.invalid_base, 14)
+    assert (str(excinfo.value) ==
+            "pybind11::init(): construction failed: returned holder-wrapped instance is not an "
+            "alias instance")
+
+    assert [i.alive() for i in cstats] == [13, 7]
+    assert ConstructorStats.detail_reg_inst() == n_inst + 13
+
+    del a1, a2, b1, d1, e1, e2
+    assert [i.alive() for i in cstats] == [7, 4]
+    assert ConstructorStats.detail_reg_inst() == n_inst + 7
+    del b2, c1, c2, d2, f1, f2, g1
+    assert [i.alive() for i in cstats] == [0, 0]
+    assert ConstructorStats.detail_reg_inst() == n_inst
+
+    assert [i.values() for i in cstats] == [
+        ["1", "2", "3", "4", "5", "6", "7", "8", "9", "100", "11", "12", "13", "14"],
+        ["2", "4", "6", "8", "9", "100", "12"]
+    ]
+
+
+def test_no_placement_new(capture):
+    """Prior to 2.2, `py::init<...>` relied on the type supporting placement
+    new; this tests a class without placement new support."""
+    with capture:
+        a = m.NoPlacementNew(123)
+
+    found = re.search(r'^operator new called, returning (\d+)\n$', str(capture))
+    assert found
+    assert a.i == 123
+    with capture:
+        del a
+        pytest.gc_collect()
+    assert capture == "operator delete called on " + found.group(1)
+
+    with capture:
+        b = m.NoPlacementNew()
+
+    found = re.search(r'^operator new called, returning (\d+)\n$', str(capture))
+    assert found
+    assert b.i == 100
+    with capture:
+        del b
+        pytest.gc_collect()
+    assert capture == "operator delete called on " + found.group(1)
+
+
+def test_multiple_inheritance():
+    class MITest(m.TestFactory1, m.TestFactory2):
+        def __init__(self):
+            m.TestFactory1.__init__(self, tag.unique_ptr, 33)
+            m.TestFactory2.__init__(self, tag.move)
+
+    a = MITest()
+    assert m.TestFactory1.value.fget(a) == "33"
+    assert m.TestFactory2.value.fget(a) == "(empty2)"
+
+
+def create_and_destroy(*args):
+    a = m.NoisyAlloc(*args)
+    print("---")
+    del a
+    pytest.gc_collect()
+
+
+def strip_comments(s):
+    return re.sub(r'\s+#.*', '', s)
+
+
+def test_reallocation_a(capture, msg):
+    """When the constructor is overloaded, previous overloads can require a preallocated value.
+    This test makes sure that such preallocated values only happen when they might be necessary,
+    and that they are deallocated properly."""
+
+    pytest.gc_collect()
+
+    with capture:
+        create_and_destroy(1)
+    assert msg(capture) == """
+        noisy new
+        noisy placement new
+        NoisyAlloc(int 1)
+        ---
+        ~NoisyAlloc()
+        noisy delete
+    """
+
+
+def test_reallocation_b(capture, msg):
+    with capture:
+        create_and_destroy(1.5)
+    assert msg(capture) == strip_comments("""
+        noisy new               # allocation required to attempt first overload
+        noisy delete            # have to dealloc before considering factory init overload
+        noisy new               # pointer factory calling "new", part 1: allocation
+        NoisyAlloc(double 1.5)  # ... part two, invoking constructor
+        ---
+        ~NoisyAlloc()  # Destructor
+        noisy delete   # operator delete
+    """)
+
+
+def test_reallocation_c(capture, msg):
+    with capture:
+        create_and_destroy(2, 3)
+    assert msg(capture) == strip_comments("""
+        noisy new          # pointer factory calling "new", allocation
+        NoisyAlloc(int 2)  # constructor
+        ---
+        ~NoisyAlloc()  # Destructor
+        noisy delete   # operator delete
+    """)
+
+
+def test_reallocation_d(capture, msg):
+    with capture:
+        create_and_destroy(2.5, 3)
+    assert msg(capture) == strip_comments("""
+        NoisyAlloc(double 2.5)  # construction (local func variable: operator_new not called)
+        noisy new               # return-by-value "new" part 1: allocation
+        ~NoisyAlloc()           # moved-away local func variable destruction
+        ---
+        ~NoisyAlloc()  # Destructor
+        noisy delete   # operator delete
+    """)
+
+
+def test_reallocation_e(capture, msg):
+    with capture:
+        create_and_destroy(3.5, 4.5)
+    assert msg(capture) == strip_comments("""
+        noisy new               # preallocation needed before invoking placement-new overload
+        noisy placement new     # Placement new
+        NoisyAlloc(double 3.5)  # construction
+        ---
+        ~NoisyAlloc()  # Destructor
+        noisy delete   # operator delete
+    """)
+
+
+def test_reallocation_f(capture, msg):
+    with capture:
+        create_and_destroy(4, 0.5)
+    assert msg(capture) == strip_comments("""
+        noisy new          # preallocation needed before invoking placement-new overload
+        noisy delete       # deallocation of preallocated storage
+        noisy new          # Factory pointer allocation
+        NoisyAlloc(int 4)  # factory pointer construction
+        ---
+        ~NoisyAlloc()  # Destructor
+        noisy delete   # operator delete
+    """)
+
+
+def test_reallocation_g(capture, msg):
+    with capture:
+        create_and_destroy(5, "hi")
+    assert msg(capture) == strip_comments("""
+        noisy new            # preallocation needed before invoking first placement new
+        noisy delete         # delete before considering new-style constructor
+        noisy new            # preallocation for second placement new
+        noisy placement new  # Placement new in the second placement new overload
+        NoisyAlloc(int 5)    # construction
+        ---
+        ~NoisyAlloc()  # Destructor
+        noisy delete   # operator delete
+    """)
+
+
+@pytest.mark.skipif("env.PY2")
+def test_invalid_self():
+    """Tests invocation of the pybind-registered base class with an invalid `self` argument.  You
+    can only actually do this on Python 3: Python 2 raises an exception itself if you try."""
+    class NotPybindDerived(object):
+        pass
+
+    # Attempts to initialize with an invalid type passed as `self`:
+    class BrokenTF1(m.TestFactory1):
+        def __init__(self, bad):
+            if bad == 1:
+                a = m.TestFactory2(tag.pointer, 1)
+                m.TestFactory1.__init__(a, tag.pointer)
+            elif bad == 2:
+                a = NotPybindDerived()
+                m.TestFactory1.__init__(a, tag.pointer)
+
+    # Same as above, but for a class with an alias:
+    class BrokenTF6(m.TestFactory6):
+        def __init__(self, bad):
+            if bad == 1:
+                a = m.TestFactory2(tag.pointer, 1)
+                m.TestFactory6.__init__(a, tag.base, 1)
+            elif bad == 2:
+                a = m.TestFactory2(tag.pointer, 1)
+                m.TestFactory6.__init__(a, tag.alias, 1)
+            elif bad == 3:
+                m.TestFactory6.__init__(NotPybindDerived.__new__(NotPybindDerived), tag.base, 1)
+            elif bad == 4:
+                m.TestFactory6.__init__(NotPybindDerived.__new__(NotPybindDerived), tag.alias, 1)
+
+    for arg in (1, 2):
+        with pytest.raises(TypeError) as excinfo:
+            BrokenTF1(arg)
+        assert str(excinfo.value) == "__init__(self, ...) called with invalid `self` argument"
+
+    for arg in (1, 2, 3, 4):
+        with pytest.raises(TypeError) as excinfo:
+            BrokenTF6(arg)
+        assert str(excinfo.value) == "__init__(self, ...) called with invalid `self` argument"
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_gil_scoped.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_gil_scoped.cpp
new file mode 100644
index 0000000..b6a45a5
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_gil_scoped.cpp
@@ -0,0 +1,54 @@
+/*
+    tests/test_gil_scoped.cpp -- acquire and release gil
+
+    Copyright (c) 2017 Borja Zarco (Google LLC) <bzarco@google.com>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include <pybind11/functional.h>
+
+
+class VirtClass  {
+public:
+    virtual ~VirtClass() = default;
+    VirtClass() = default;
+    VirtClass(const VirtClass&) = delete;
+    virtual void virtual_func() {}
+    virtual void pure_virtual_func() = 0;
+};
+
+class PyVirtClass : public VirtClass {
+    void virtual_func() override {
+        PYBIND11_OVERRIDE(void, VirtClass, virtual_func,);
+    }
+    void pure_virtual_func() override {
+        PYBIND11_OVERRIDE_PURE(void, VirtClass, pure_virtual_func,);
+    }
+};
+
+TEST_SUBMODULE(gil_scoped, m) {
+  py::class_<VirtClass, PyVirtClass>(m, "VirtClass")
+      .def(py::init<>())
+      .def("virtual_func", &VirtClass::virtual_func)
+      .def("pure_virtual_func", &VirtClass::pure_virtual_func);
+
+    m.def("test_callback_py_obj",
+          [](py::object func) { func(); });
+    m.def("test_callback_std_func",
+          [](const std::function<void()> &func) { func(); });
+    m.def("test_callback_virtual_func",
+          [](VirtClass &virt) { virt.virtual_func(); });
+    m.def("test_callback_pure_virtual_func",
+          [](VirtClass &virt) { virt.pure_virtual_func(); });
+    m.def("test_cross_module_gil",
+          []() {
+              auto cm = py::module_::import("cross_module_gil_utils");
+              auto gil_acquire = reinterpret_cast<void (*)()>(
+                  PyLong_AsVoidPtr(cm.attr("gil_acquire_funcaddr").ptr()));
+              py::gil_scoped_release gil_release;
+              gil_acquire();
+          });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_gil_scoped.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_gil_scoped.py
new file mode 100644
index 0000000..b2169d9
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_gil_scoped.py
@@ -0,0 +1,91 @@
+# -*- coding: utf-8 -*-
+import multiprocessing
+import threading
+
+from pybind11_tests import gil_scoped as m
+
+
+def _run_in_process(target, *args, **kwargs):
+    """Runs target in process and returns its exitcode after 10s (None if still alive)."""
+    process = multiprocessing.Process(target=target, args=args, kwargs=kwargs)
+    process.daemon = True
+    try:
+        process.start()
+        # Do not need to wait much, 10s should be more than enough.
+        process.join(timeout=10)
+        return process.exitcode
+    finally:
+        if process.is_alive():
+            process.terminate()
+
+
+def _python_to_cpp_to_python():
+    """Calls different C++ functions that come back to Python."""
+    class ExtendedVirtClass(m.VirtClass):
+        def virtual_func(self):
+            pass
+
+        def pure_virtual_func(self):
+            pass
+
+    extended = ExtendedVirtClass()
+    m.test_callback_py_obj(lambda: None)
+    m.test_callback_std_func(lambda: None)
+    m.test_callback_virtual_func(extended)
+    m.test_callback_pure_virtual_func(extended)
+
+
+def _python_to_cpp_to_python_from_threads(num_threads, parallel=False):
+    """Calls different C++ functions that come back to Python, from Python threads."""
+    threads = []
+    for _ in range(num_threads):
+        thread = threading.Thread(target=_python_to_cpp_to_python)
+        thread.daemon = True
+        thread.start()
+        if parallel:
+            threads.append(thread)
+        else:
+            thread.join()
+    for thread in threads:
+        thread.join()
+
+
+# TODO: FIXME, sometimes returns -11 (segfault) instead of 0 on macOS Python 3.9
+def test_python_to_cpp_to_python_from_thread():
+    """Makes sure there is no GIL deadlock when running in a thread.
+
+    It runs in a separate process to be able to stop and assert if it deadlocks.
+    """
+    assert _run_in_process(_python_to_cpp_to_python_from_threads, 1) == 0
+
+
+# TODO: FIXME on macOS Python 3.9
+def test_python_to_cpp_to_python_from_thread_multiple_parallel():
+    """Makes sure there is no GIL deadlock when running in a thread multiple times in parallel.
+
+    It runs in a separate process to be able to stop and assert if it deadlocks.
+    """
+    assert _run_in_process(_python_to_cpp_to_python_from_threads, 8, parallel=True) == 0
+
+
+# TODO: FIXME on macOS Python 3.9
+def test_python_to_cpp_to_python_from_thread_multiple_sequential():
+    """Makes sure there is no GIL deadlock when running in a thread multiple times sequentially.
+
+    It runs in a separate process to be able to stop and assert if it deadlocks.
+    """
+    assert _run_in_process(_python_to_cpp_to_python_from_threads, 8, parallel=False) == 0
+
+
+# TODO: FIXME on macOS Python 3.9
+def test_python_to_cpp_to_python_from_process():
+    """Makes sure there is no GIL deadlock when using processes.
+
+    This test is for completion, but it was never an issue.
+    """
+    assert _run_in_process(_python_to_cpp_to_python) == 0
+
+
+def test_cross_module_gil():
+    """Makes sure that the GIL can be acquired by another module from a GIL-released state."""
+    m.test_cross_module_gil()  # Should not raise a SIGSEGV
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_iostream.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_iostream.cpp
new file mode 100644
index 0000000..e916150
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_iostream.cpp
@@ -0,0 +1,73 @@
+/*
+    tests/test_iostream.cpp -- Usage of scoped_output_redirect
+
+    Copyright (c) 2017 Henry F. Schreiner
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+
+#include <pybind11/iostream.h>
+#include "pybind11_tests.h"
+#include <iostream>
+
+
+void noisy_function(std::string msg, bool flush) {
+
+    std::cout << msg;
+    if (flush)
+        std::cout << std::flush;
+}
+
+void noisy_funct_dual(std::string msg, std::string emsg) {
+    std::cout << msg;
+    std::cerr << emsg;
+}
+
+TEST_SUBMODULE(iostream, m) {
+
+    add_ostream_redirect(m);
+
+    // test_evals
+
+    m.def("captured_output_default", [](std::string msg) {
+        py::scoped_ostream_redirect redir;
+        std::cout << msg << std::flush;
+    });
+
+    m.def("captured_output", [](std::string msg) {
+        py::scoped_ostream_redirect redir(std::cout, py::module_::import("sys").attr("stdout"));
+        std::cout << msg << std::flush;
+    });
+
+    m.def("guard_output", &noisy_function,
+            py::call_guard<py::scoped_ostream_redirect>(),
+            py::arg("msg"), py::arg("flush")=true);
+
+    m.def("captured_err", [](std::string msg) {
+        py::scoped_ostream_redirect redir(std::cerr, py::module_::import("sys").attr("stderr"));
+        std::cerr << msg << std::flush;
+    });
+
+    m.def("noisy_function", &noisy_function, py::arg("msg"), py::arg("flush") = true);
+
+    m.def("dual_guard", &noisy_funct_dual,
+            py::call_guard<py::scoped_ostream_redirect, py::scoped_estream_redirect>(),
+            py::arg("msg"), py::arg("emsg"));
+
+    m.def("raw_output", [](std::string msg) {
+        std::cout << msg << std::flush;
+    });
+
+    m.def("raw_err", [](std::string msg) {
+        std::cerr << msg << std::flush;
+    });
+
+    m.def("captured_dual", [](std::string msg, std::string emsg) {
+        py::scoped_ostream_redirect redirout(std::cout, py::module_::import("sys").attr("stdout"));
+        py::scoped_ostream_redirect redirerr(std::cerr, py::module_::import("sys").attr("stderr"));
+        std::cout << msg << std::flush;
+        std::cerr << emsg << std::flush;
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_iostream.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_iostream.py
new file mode 100644
index 0000000..7ac4fce
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_iostream.py
@@ -0,0 +1,215 @@
+# -*- coding: utf-8 -*-
+from pybind11_tests import iostream as m
+import sys
+
+from contextlib import contextmanager
+
+try:
+    # Python 3
+    from io import StringIO
+except ImportError:
+    # Python 2
+    try:
+        from cStringIO import StringIO
+    except ImportError:
+        from StringIO import StringIO
+
+try:
+    # Python 3.4
+    from contextlib import redirect_stdout
+except ImportError:
+    @contextmanager
+    def redirect_stdout(target):
+        original = sys.stdout
+        sys.stdout = target
+        yield
+        sys.stdout = original
+
+try:
+    # Python 3.5
+    from contextlib import redirect_stderr
+except ImportError:
+    @contextmanager
+    def redirect_stderr(target):
+        original = sys.stderr
+        sys.stderr = target
+        yield
+        sys.stderr = original
+
+
+def test_captured(capsys):
+    msg = "I've been redirected to Python, I hope!"
+    m.captured_output(msg)
+    stdout, stderr = capsys.readouterr()
+    assert stdout == msg
+    assert stderr == ''
+
+    m.captured_output_default(msg)
+    stdout, stderr = capsys.readouterr()
+    assert stdout == msg
+    assert stderr == ''
+
+    m.captured_err(msg)
+    stdout, stderr = capsys.readouterr()
+    assert stdout == ''
+    assert stderr == msg
+
+
+def test_captured_large_string(capsys):
+    # Make this bigger than the buffer used on the C++ side: 1024 chars
+    msg = "I've been redirected to Python, I hope!"
+    msg = msg * (1024 // len(msg) + 1)
+
+    m.captured_output_default(msg)
+    stdout, stderr = capsys.readouterr()
+    assert stdout == msg
+    assert stderr == ''
+
+
+def test_guard_capture(capsys):
+    msg = "I've been redirected to Python, I hope!"
+    m.guard_output(msg)
+    stdout, stderr = capsys.readouterr()
+    assert stdout == msg
+    assert stderr == ''
+
+
+def test_series_captured(capture):
+    with capture:
+        m.captured_output("a")
+        m.captured_output("b")
+    assert capture == "ab"
+
+
+def test_flush(capfd):
+    msg = "(not flushed)"
+    msg2 = "(flushed)"
+
+    with m.ostream_redirect():
+        m.noisy_function(msg, flush=False)
+        stdout, stderr = capfd.readouterr()
+        assert stdout == ''
+
+        m.noisy_function(msg2, flush=True)
+        stdout, stderr = capfd.readouterr()
+        assert stdout == msg + msg2
+
+        m.noisy_function(msg, flush=False)
+
+    stdout, stderr = capfd.readouterr()
+    assert stdout == msg
+
+
+def test_not_captured(capfd):
+    msg = "Something that should not show up in log"
+    stream = StringIO()
+    with redirect_stdout(stream):
+        m.raw_output(msg)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == msg
+    assert stderr == ''
+    assert stream.getvalue() == ''
+
+    stream = StringIO()
+    with redirect_stdout(stream):
+        m.captured_output(msg)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == ''
+    assert stderr == ''
+    assert stream.getvalue() == msg
+
+
+def test_err(capfd):
+    msg = "Something that should not show up in log"
+    stream = StringIO()
+    with redirect_stderr(stream):
+        m.raw_err(msg)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == ''
+    assert stderr == msg
+    assert stream.getvalue() == ''
+
+    stream = StringIO()
+    with redirect_stderr(stream):
+        m.captured_err(msg)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == ''
+    assert stderr == ''
+    assert stream.getvalue() == msg
+
+
+def test_multi_captured(capfd):
+    stream = StringIO()
+    with redirect_stdout(stream):
+        m.captured_output("a")
+        m.raw_output("b")
+        m.captured_output("c")
+        m.raw_output("d")
+    stdout, stderr = capfd.readouterr()
+    assert stdout == 'bd'
+    assert stream.getvalue() == 'ac'
+
+
+def test_dual(capsys):
+    m.captured_dual("a", "b")
+    stdout, stderr = capsys.readouterr()
+    assert stdout == "a"
+    assert stderr == "b"
+
+
+def test_redirect(capfd):
+    msg = "Should not be in log!"
+    stream = StringIO()
+    with redirect_stdout(stream):
+        m.raw_output(msg)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == msg
+    assert stream.getvalue() == ''
+
+    stream = StringIO()
+    with redirect_stdout(stream):
+        with m.ostream_redirect():
+            m.raw_output(msg)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == ''
+    assert stream.getvalue() == msg
+
+    stream = StringIO()
+    with redirect_stdout(stream):
+        m.raw_output(msg)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == msg
+    assert stream.getvalue() == ''
+
+
+def test_redirect_err(capfd):
+    msg = "StdOut"
+    msg2 = "StdErr"
+
+    stream = StringIO()
+    with redirect_stderr(stream):
+        with m.ostream_redirect(stdout=False):
+            m.raw_output(msg)
+            m.raw_err(msg2)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == msg
+    assert stderr == ''
+    assert stream.getvalue() == msg2
+
+
+def test_redirect_both(capfd):
+    msg = "StdOut"
+    msg2 = "StdErr"
+
+    stream = StringIO()
+    stream2 = StringIO()
+    with redirect_stdout(stream):
+        with redirect_stderr(stream2):
+            with m.ostream_redirect():
+                m.raw_output(msg)
+                m.raw_err(msg2)
+    stdout, stderr = capfd.readouterr()
+    assert stdout == ''
+    assert stderr == ''
+    assert stream.getvalue() == msg
+    assert stream2.getvalue() == msg2
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_kwargs_and_defaults.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_kwargs_and_defaults.cpp
new file mode 100644
index 0000000..7bda708
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_kwargs_and_defaults.cpp
@@ -0,0 +1,142 @@
+/*
+    tests/test_kwargs_and_defaults.cpp -- keyword arguments and default values
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/stl.h>
+
+TEST_SUBMODULE(kwargs_and_defaults, m) {
+    auto kw_func = [](int x, int y) { return "x=" + std::to_string(x) + ", y=" + std::to_string(y); };
+
+    // test_named_arguments
+    m.def("kw_func0", kw_func);
+    m.def("kw_func1", kw_func, py::arg("x"), py::arg("y"));
+    m.def("kw_func2", kw_func, py::arg("x") = 100, py::arg("y") = 200);
+    m.def("kw_func3", [](const char *) { }, py::arg("data") = std::string("Hello world!"));
+
+    /* A fancier default argument */
+    std::vector<int> list{{13, 17}};
+    m.def("kw_func4", [](const std::vector<int> &entries) {
+        std::string ret = "{";
+        for (int i : entries)
+            ret += std::to_string(i) + " ";
+        ret.back() = '}';
+        return ret;
+    }, py::arg("myList") = list);
+
+    m.def("kw_func_udl", kw_func, "x"_a, "y"_a=300);
+    m.def("kw_func_udl_z", kw_func, "x"_a, "y"_a=0);
+
+    // test_args_and_kwargs
+    m.def("args_function", [](py::args args) -> py::tuple {
+        return std::move(args);
+    });
+    m.def("args_kwargs_function", [](py::args args, py::kwargs kwargs) {
+        return py::make_tuple(args, kwargs);
+    });
+
+    // test_mixed_args_and_kwargs
+    m.def("mixed_plus_args", [](int i, double j, py::args args) {
+        return py::make_tuple(i, j, args);
+    });
+    m.def("mixed_plus_kwargs", [](int i, double j, py::kwargs kwargs) {
+        return py::make_tuple(i, j, kwargs);
+    });
+    auto mixed_plus_both = [](int i, double j, py::args args, py::kwargs kwargs) {
+        return py::make_tuple(i, j, args, kwargs);
+    };
+    m.def("mixed_plus_args_kwargs", mixed_plus_both);
+
+    m.def("mixed_plus_args_kwargs_defaults", mixed_plus_both,
+            py::arg("i") = 1, py::arg("j") = 3.14159);
+
+    // test_args_refcount
+    // PyPy needs a garbage collection to get the reference count values to match CPython's behaviour
+    #ifdef PYPY_VERSION
+    #define GC_IF_NEEDED ConstructorStats::gc()
+    #else
+    #define GC_IF_NEEDED
+    #endif
+    m.def("arg_refcount_h", [](py::handle h) { GC_IF_NEEDED; return h.ref_count(); });
+    m.def("arg_refcount_h", [](py::handle h, py::handle, py::handle) { GC_IF_NEEDED; return h.ref_count(); });
+    m.def("arg_refcount_o", [](py::object o) { GC_IF_NEEDED; return o.ref_count(); });
+    m.def("args_refcount", [](py::args a) {
+        GC_IF_NEEDED;
+        py::tuple t(a.size());
+        for (size_t i = 0; i < a.size(); i++)
+            // Use raw Python API here to avoid an extra, intermediate incref on the tuple item:
+            t[i] = (int) Py_REFCNT(PyTuple_GET_ITEM(a.ptr(), static_cast<ssize_t>(i)));
+        return t;
+    });
+    m.def("mixed_args_refcount", [](py::object o, py::args a) {
+        GC_IF_NEEDED;
+        py::tuple t(a.size() + 1);
+        t[0] = o.ref_count();
+        for (size_t i = 0; i < a.size(); i++)
+            // Use raw Python API here to avoid an extra, intermediate incref on the tuple item:
+            t[i + 1] = (int) Py_REFCNT(PyTuple_GET_ITEM(a.ptr(), static_cast<ssize_t>(i)));
+        return t;
+    });
+
+    // pybind11 won't allow these to be bound: args and kwargs, if present, must be at the end.
+    // Uncomment these to test that the static_assert is indeed working:
+//    m.def("bad_args1", [](py::args, int) {});
+//    m.def("bad_args2", [](py::kwargs, int) {});
+//    m.def("bad_args3", [](py::kwargs, py::args) {});
+//    m.def("bad_args4", [](py::args, int, py::kwargs) {});
+//    m.def("bad_args5", [](py::args, py::kwargs, int) {});
+//    m.def("bad_args6", [](py::args, py::args) {});
+//    m.def("bad_args7", [](py::kwargs, py::kwargs) {});
+
+    // test_keyword_only_args
+    m.def("kw_only_all", [](int i, int j) { return py::make_tuple(i, j); },
+            py::kw_only(), py::arg("i"), py::arg("j"));
+    m.def("kw_only_some", [](int i, int j, int k) { return py::make_tuple(i, j, k); },
+            py::arg(), py::kw_only(), py::arg("j"), py::arg("k"));
+    m.def("kw_only_with_defaults", [](int i, int j, int k, int z) { return py::make_tuple(i, j, k, z); },
+            py::arg() = 3, "j"_a = 4, py::kw_only(), "k"_a = 5, "z"_a);
+    m.def("kw_only_mixed", [](int i, int j) { return py::make_tuple(i, j); },
+            "i"_a, py::kw_only(), "j"_a);
+    m.def("kw_only_plus_more", [](int i, int j, int k, py::kwargs kwargs) {
+            return py::make_tuple(i, j, k, kwargs); },
+            py::arg() /* positional */, py::arg("j") = -1 /* both */, py::kw_only(), py::arg("k") /* kw-only */);
+
+    m.def("register_invalid_kw_only", [](py::module_ m) {
+        m.def("bad_kw_only", [](int i, int j) { return py::make_tuple(i, j); },
+                py::kw_only(), py::arg() /* invalid unnamed argument */, "j"_a);
+    });
+
+    // test_positional_only_args
+    m.def("pos_only_all", [](int i, int j) { return py::make_tuple(i, j); },
+            py::arg("i"), py::arg("j"), py::pos_only());
+    m.def("pos_only_mix", [](int i, int j) { return py::make_tuple(i, j); },
+            py::arg("i"), py::pos_only(), py::arg("j"));
+    m.def("pos_kw_only_mix", [](int i, int j, int k) { return py::make_tuple(i, j, k); },
+            py::arg("i"), py::pos_only(), py::arg("j"), py::kw_only(), py::arg("k"));
+    m.def("pos_only_def_mix", [](int i, int j, int k) { return py::make_tuple(i, j, k); },
+            py::arg("i"), py::arg("j") = 2, py::pos_only(), py::arg("k") = 3);
+
+
+    // These should fail to compile:
+    // argument annotations are required when using kw_only
+//    m.def("bad_kw_only1", [](int) {}, py::kw_only());
+    // can't specify both `py::kw_only` and a `py::args` argument
+//    m.def("bad_kw_only2", [](int i, py::args) {}, py::kw_only(), "i"_a);
+
+    // test_function_signatures (along with most of the above)
+    struct KWClass { void foo(int, float) {} };
+    py::class_<KWClass>(m, "KWClass")
+        .def("foo0", &KWClass::foo)
+        .def("foo1", &KWClass::foo, "x"_a, "y"_a);
+
+    // Make sure a class (not an instance) can be used as a default argument.
+    // The return value doesn't matter, only that the module is importable.
+    m.def("class_default_argument", [](py::object a) { return py::repr(a); },
+        "a"_a = py::module_::import("decimal").attr("Decimal"));
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_kwargs_and_defaults.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_kwargs_and_defaults.py
new file mode 100644
index 0000000..2a81dbd
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_kwargs_and_defaults.py
@@ -0,0 +1,240 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import kwargs_and_defaults as m
+
+
+def test_function_signatures(doc):
+    assert doc(m.kw_func0) == "kw_func0(arg0: int, arg1: int) -> str"
+    assert doc(m.kw_func1) == "kw_func1(x: int, y: int) -> str"
+    assert doc(m.kw_func2) == "kw_func2(x: int = 100, y: int = 200) -> str"
+    assert doc(m.kw_func3) == "kw_func3(data: str = 'Hello world!') -> None"
+    assert doc(m.kw_func4) == "kw_func4(myList: List[int] = [13, 17]) -> str"
+    assert doc(m.kw_func_udl) == "kw_func_udl(x: int, y: int = 300) -> str"
+    assert doc(m.kw_func_udl_z) == "kw_func_udl_z(x: int, y: int = 0) -> str"
+    assert doc(m.args_function) == "args_function(*args) -> tuple"
+    assert doc(m.args_kwargs_function) == "args_kwargs_function(*args, **kwargs) -> tuple"
+    assert doc(m.KWClass.foo0) == \
+        "foo0(self: m.kwargs_and_defaults.KWClass, arg0: int, arg1: float) -> None"
+    assert doc(m.KWClass.foo1) == \
+        "foo1(self: m.kwargs_and_defaults.KWClass, x: int, y: float) -> None"
+
+
+def test_named_arguments(msg):
+    assert m.kw_func0(5, 10) == "x=5, y=10"
+
+    assert m.kw_func1(5, 10) == "x=5, y=10"
+    assert m.kw_func1(5, y=10) == "x=5, y=10"
+    assert m.kw_func1(y=10, x=5) == "x=5, y=10"
+
+    assert m.kw_func2() == "x=100, y=200"
+    assert m.kw_func2(5) == "x=5, y=200"
+    assert m.kw_func2(x=5) == "x=5, y=200"
+    assert m.kw_func2(y=10) == "x=100, y=10"
+    assert m.kw_func2(5, 10) == "x=5, y=10"
+    assert m.kw_func2(x=5, y=10) == "x=5, y=10"
+
+    with pytest.raises(TypeError) as excinfo:
+        # noinspection PyArgumentList
+        m.kw_func2(x=5, y=10, z=12)
+    assert excinfo.match(
+        r'(?s)^kw_func2\(\): incompatible.*Invoked with: kwargs: ((x=5|y=10|z=12)(, |$))' + '{3}$')
+
+    assert m.kw_func4() == "{13 17}"
+    assert m.kw_func4(myList=[1, 2, 3]) == "{1 2 3}"
+
+    assert m.kw_func_udl(x=5, y=10) == "x=5, y=10"
+    assert m.kw_func_udl_z(x=5) == "x=5, y=0"
+
+
+def test_arg_and_kwargs():
+    args = 'arg1_value', 'arg2_value', 3
+    assert m.args_function(*args) == args
+
+    args = 'a1', 'a2'
+    kwargs = dict(arg3='a3', arg4=4)
+    assert m.args_kwargs_function(*args, **kwargs) == (args, kwargs)
+
+
+def test_mixed_args_and_kwargs(msg):
+    mpa = m.mixed_plus_args
+    mpk = m.mixed_plus_kwargs
+    mpak = m.mixed_plus_args_kwargs
+    mpakd = m.mixed_plus_args_kwargs_defaults
+
+    assert mpa(1, 2.5, 4, 99.5, None) == (1, 2.5, (4, 99.5, None))
+    assert mpa(1, 2.5) == (1, 2.5, ())
+    with pytest.raises(TypeError) as excinfo:
+        assert mpa(1)
+    assert msg(excinfo.value) == """
+        mixed_plus_args(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: int, arg1: float, *args) -> tuple
+
+        Invoked with: 1
+    """  # noqa: E501 line too long
+    with pytest.raises(TypeError) as excinfo:
+        assert mpa()
+    assert msg(excinfo.value) == """
+        mixed_plus_args(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: int, arg1: float, *args) -> tuple
+
+        Invoked with:
+    """  # noqa: E501 line too long
+
+    assert mpk(-2, 3.5, pi=3.14159, e=2.71828) == (-2, 3.5, {'e': 2.71828, 'pi': 3.14159})
+    assert mpak(7, 7.7, 7.77, 7.777, 7.7777, minusseven=-7) == (
+        7, 7.7, (7.77, 7.777, 7.7777), {'minusseven': -7})
+    assert mpakd() == (1, 3.14159, (), {})
+    assert mpakd(3) == (3, 3.14159, (), {})
+    assert mpakd(j=2.71828) == (1, 2.71828, (), {})
+    assert mpakd(k=42) == (1, 3.14159, (), {'k': 42})
+    assert mpakd(1, 1, 2, 3, 5, 8, then=13, followedby=21) == (
+        1, 1, (2, 3, 5, 8), {'then': 13, 'followedby': 21})
+    # Arguments specified both positionally and via kwargs should fail:
+    with pytest.raises(TypeError) as excinfo:
+        assert mpakd(1, i=1)
+    assert msg(excinfo.value) == """
+        mixed_plus_args_kwargs_defaults(): incompatible function arguments. The following argument types are supported:
+            1. (i: int = 1, j: float = 3.14159, *args, **kwargs) -> tuple
+
+        Invoked with: 1; kwargs: i=1
+    """  # noqa: E501 line too long
+    with pytest.raises(TypeError) as excinfo:
+        assert mpakd(1, 2, j=1)
+    assert msg(excinfo.value) == """
+        mixed_plus_args_kwargs_defaults(): incompatible function arguments. The following argument types are supported:
+            1. (i: int = 1, j: float = 3.14159, *args, **kwargs) -> tuple
+
+        Invoked with: 1, 2; kwargs: j=1
+    """  # noqa: E501 line too long
+
+
+def test_keyword_only_args(msg):
+    assert m.kw_only_all(i=1, j=2) == (1, 2)
+    assert m.kw_only_all(j=1, i=2) == (2, 1)
+
+    with pytest.raises(TypeError) as excinfo:
+        assert m.kw_only_all(i=1) == (1,)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        assert m.kw_only_all(1, 2) == (1, 2)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    assert m.kw_only_some(1, k=3, j=2) == (1, 2, 3)
+
+    assert m.kw_only_with_defaults(z=8) == (3, 4, 5, 8)
+    assert m.kw_only_with_defaults(2, z=8) == (2, 4, 5, 8)
+    assert m.kw_only_with_defaults(2, j=7, k=8, z=9) == (2, 7, 8, 9)
+    assert m.kw_only_with_defaults(2, 7, z=9, k=8) == (2, 7, 8, 9)
+
+    assert m.kw_only_mixed(1, j=2) == (1, 2)
+    assert m.kw_only_mixed(j=2, i=3) == (3, 2)
+    assert m.kw_only_mixed(i=2, j=3) == (2, 3)
+
+    assert m.kw_only_plus_more(4, 5, k=6, extra=7) == (4, 5, 6, {'extra': 7})
+    assert m.kw_only_plus_more(3, k=5, j=4, extra=6) == (3, 4, 5, {'extra': 6})
+    assert m.kw_only_plus_more(2, k=3, extra=4) == (2, -1, 3, {'extra': 4})
+
+    with pytest.raises(TypeError) as excinfo:
+        assert m.kw_only_mixed(i=1) == (1,)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.register_invalid_kw_only(m)
+    assert msg(excinfo.value) == """
+        arg(): cannot specify an unnamed argument after an kw_only() annotation
+    """
+
+
+def test_positional_only_args(msg):
+    assert m.pos_only_all(1, 2) == (1, 2)
+    assert m.pos_only_all(2, 1) == (2, 1)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.pos_only_all(i=1, j=2)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    assert m.pos_only_mix(1, 2) == (1, 2)
+    assert m.pos_only_mix(2, j=1) == (2, 1)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.pos_only_mix(i=1, j=2)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    assert m.pos_kw_only_mix(1, 2, k=3) == (1, 2, 3)
+    assert m.pos_kw_only_mix(1, j=2, k=3) == (1, 2, 3)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.pos_kw_only_mix(i=1, j=2, k=3)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.pos_kw_only_mix(1, 2, 3)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.pos_only_def_mix()
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    assert m.pos_only_def_mix(1) == (1, 2, 3)
+    assert m.pos_only_def_mix(1, 4) == (1, 4, 3)
+    assert m.pos_only_def_mix(1, 4, 7) == (1, 4, 7)
+    assert m.pos_only_def_mix(1, 4, k=7) == (1, 4, 7)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.pos_only_def_mix(1, j=4)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_signatures():
+    assert "kw_only_all(*, i: int, j: int) -> tuple\n" == m.kw_only_all.__doc__
+    assert "kw_only_mixed(i: int, *, j: int) -> tuple\n" == m.kw_only_mixed.__doc__
+    assert "pos_only_all(i: int, j: int, /) -> tuple\n" == m.pos_only_all.__doc__
+    assert "pos_only_mix(i: int, /, j: int) -> tuple\n" == m.pos_only_mix.__doc__
+    assert "pos_kw_only_mix(i: int, /, j: int, *, k: int) -> tuple\n" == m.pos_kw_only_mix.__doc__
+
+
+@pytest.mark.xfail("env.PYPY and env.PY2", reason="PyPy2 doesn't double count")
+def test_args_refcount():
+    """Issue/PR #1216 - py::args elements get double-inc_ref()ed when combined with regular
+    arguments"""
+    refcount = m.arg_refcount_h
+
+    myval = 54321
+    expected = refcount(myval)
+    assert m.arg_refcount_h(myval) == expected
+    assert m.arg_refcount_o(myval) == expected + 1
+    assert m.arg_refcount_h(myval) == expected
+    assert refcount(myval) == expected
+
+    assert m.mixed_plus_args(1, 2.0, "a", myval) == (1, 2.0, ("a", myval))
+    assert refcount(myval) == expected
+
+    assert m.mixed_plus_kwargs(3, 4.0, a=1, b=myval) == (3, 4.0, {"a": 1, "b": myval})
+    assert refcount(myval) == expected
+
+    assert m.args_function(-1, myval) == (-1, myval)
+    assert refcount(myval) == expected
+
+    assert m.mixed_plus_args_kwargs(5, 6.0, myval, a=myval) == (5, 6.0, (myval,), {"a": myval})
+    assert refcount(myval) == expected
+
+    assert m.args_kwargs_function(7, 8, myval, a=1, b=myval) == \
+        ((7, 8, myval), {"a": 1, "b": myval})
+    assert refcount(myval) == expected
+
+    exp3 = refcount(myval, myval, myval)
+    assert m.args_refcount(myval, myval, myval) == (exp3, exp3, exp3)
+    assert refcount(myval) == expected
+
+    # This function takes the first arg as a `py::object` and the rest as a `py::args`.  Unlike the
+    # previous case, when we have both positional and `py::args` we need to construct a new tuple
+    # for the `py::args`; in the previous case, we could simply inc_ref and pass on Python's input
+    # tuple without having to inc_ref the individual elements, but here we can't, hence the extra
+    # refs.
+    assert m.mixed_args_refcount(myval, myval, myval) == (exp3 + 3, exp3 + 3, exp3 + 3)
+
+    assert m.class_default_argument() == "<class 'decimal.Decimal'>"
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_local_bindings.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_local_bindings.cpp
new file mode 100644
index 0000000..c61e388
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_local_bindings.cpp
@@ -0,0 +1,101 @@
+/*
+    tests/test_local_bindings.cpp -- tests the py::module_local class feature which makes a class
+                                     binding local to the module in which it is defined.
+
+    Copyright (c) 2017 Jason Rhinelander <jason@imaginary.ca>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "local_bindings.h"
+#include <pybind11/stl.h>
+#include <pybind11/stl_bind.h>
+#include <numeric>
+
+TEST_SUBMODULE(local_bindings, m) {
+    // test_load_external
+    m.def("load_external1", [](ExternalType1 &e) { return e.i; });
+    m.def("load_external2", [](ExternalType2 &e) { return e.i; });
+
+    // test_local_bindings
+    // Register a class with py::module_local:
+    bind_local<LocalType, -1>(m, "LocalType", py::module_local())
+        .def("get3", [](LocalType &t) { return t.i + 3; })
+        ;
+
+    m.def("local_value", [](LocalType &l) { return l.i; });
+
+    // test_nonlocal_failure
+    // The main pybind11 test module is loaded first, so this registration will succeed (the second
+    // one, in pybind11_cross_module_tests.cpp, is designed to fail):
+    bind_local<NonLocalType, 0>(m, "NonLocalType")
+        .def(py::init<int>())
+        .def("get", [](LocalType &i) { return i.i; })
+        ;
+
+    // test_duplicate_local
+    // py::module_local declarations should be visible across compilation units that get linked together;
+    // this tries to register a duplicate local.  It depends on a definition in test_class.cpp and
+    // should raise a runtime error from the duplicate definition attempt.  If test_class isn't
+    // available it *also* throws a runtime error (with "test_class not enabled" as value).
+    m.def("register_local_external", [m]() {
+        auto main = py::module_::import("pybind11_tests");
+        if (py::hasattr(main, "class_")) {
+            bind_local<LocalExternal, 7>(m, "LocalExternal", py::module_local());
+        }
+        else throw std::runtime_error("test_class not enabled");
+    });
+
+    // test_stl_bind_local
+    // stl_bind.h binders defaults to py::module_local if the types are local or converting:
+    py::bind_vector<LocalVec>(m, "LocalVec");
+    py::bind_map<LocalMap>(m, "LocalMap");
+    // and global if the type (or one of the types, for the map) is global:
+    py::bind_vector<NonLocalVec>(m, "NonLocalVec");
+    py::bind_map<NonLocalMap>(m, "NonLocalMap");
+
+    // test_stl_bind_global
+    // They can, however, be overridden to global using `py::module_local(false)`:
+    bind_local<NonLocal2, 10>(m, "NonLocal2");
+    py::bind_vector<LocalVec2>(m, "LocalVec2", py::module_local());
+    py::bind_map<NonLocalMap2>(m, "NonLocalMap2", py::module_local(false));
+
+    // test_mixed_local_global
+    // We try this both with the global type registered first and vice versa (the order shouldn't
+    // matter).
+    m.def("register_mixed_global", [m]() {
+        bind_local<MixedGlobalLocal, 100>(m, "MixedGlobalLocal", py::module_local(false));
+    });
+    m.def("register_mixed_local", [m]() {
+        bind_local<MixedLocalGlobal, 1000>(m, "MixedLocalGlobal", py::module_local());
+    });
+    m.def("get_mixed_gl", [](int i) { return MixedGlobalLocal(i); });
+    m.def("get_mixed_lg", [](int i) { return MixedLocalGlobal(i); });
+
+    // test_internal_locals_differ
+    m.def("local_cpp_types_addr", []() { return (uintptr_t) &py::detail::registered_local_types_cpp(); });
+
+    // test_stl_caster_vs_stl_bind
+    m.def("load_vector_via_caster", [](std::vector<int> v) {
+        return std::accumulate(v.begin(), v.end(), 0);
+    });
+
+    // test_cross_module_calls
+    m.def("return_self", [](LocalVec *v) { return v; });
+    m.def("return_copy", [](const LocalVec &v) { return LocalVec(v); });
+
+    class Cat : public pets::Pet { public: Cat(std::string name) : Pet(name) {}; };
+    py::class_<pets::Pet>(m, "Pet", py::module_local())
+        .def("get_name", &pets::Pet::name);
+    // Binding for local extending class:
+    py::class_<Cat, pets::Pet>(m, "Cat")
+        .def(py::init<std::string>());
+    m.def("pet_name", [](pets::Pet &p) { return p.name(); });
+
+    py::class_<MixGL>(m, "MixGL").def(py::init<int>());
+    m.def("get_gl_value", [](MixGL &o) { return o.i + 10; });
+
+    py::class_<MixGL2>(m, "MixGL2").def(py::init<int>());
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_local_bindings.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_local_bindings.py
new file mode 100644
index 0000000..ebc4873
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_local_bindings.py
@@ -0,0 +1,230 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import local_bindings as m
+
+
+def test_load_external():
+    """Load a `py::module_local` type that's only registered in an external module"""
+    import pybind11_cross_module_tests as cm
+
+    assert m.load_external1(cm.ExternalType1(11)) == 11
+    assert m.load_external2(cm.ExternalType2(22)) == 22
+
+    with pytest.raises(TypeError) as excinfo:
+        assert m.load_external2(cm.ExternalType1(21)) == 21
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        assert m.load_external1(cm.ExternalType2(12)) == 12
+    assert "incompatible function arguments" in str(excinfo.value)
+
+
+def test_local_bindings():
+    """Tests that duplicate `py::module_local` class bindings work across modules"""
+
+    # Make sure we can load the second module with the conflicting (but local) definition:
+    import pybind11_cross_module_tests as cm
+
+    i1 = m.LocalType(5)
+    assert i1.get() == 4
+    assert i1.get3() == 8
+
+    i2 = cm.LocalType(10)
+    assert i2.get() == 11
+    assert i2.get2() == 12
+
+    assert not hasattr(i1, 'get2')
+    assert not hasattr(i2, 'get3')
+
+    # Loading within the local module
+    assert m.local_value(i1) == 5
+    assert cm.local_value(i2) == 10
+
+    # Cross-module loading works as well (on failure, the type loader looks for
+    # external module-local converters):
+    assert m.local_value(i2) == 10
+    assert cm.local_value(i1) == 5
+
+
+def test_nonlocal_failure():
+    """Tests that attempting to register a non-local type in multiple modules fails"""
+    import pybind11_cross_module_tests as cm
+
+    with pytest.raises(RuntimeError) as excinfo:
+        cm.register_nonlocal()
+    assert str(excinfo.value) == 'generic_type: type "NonLocalType" is already registered!'
+
+
+def test_duplicate_local():
+    """Tests expected failure when registering a class twice with py::local in the same module"""
+    with pytest.raises(RuntimeError) as excinfo:
+        m.register_local_external()
+    import pybind11_tests
+    assert str(excinfo.value) == (
+        'generic_type: type "LocalExternal" is already registered!'
+        if hasattr(pybind11_tests, 'class_') else 'test_class not enabled')
+
+
+def test_stl_bind_local():
+    import pybind11_cross_module_tests as cm
+
+    v1, v2 = m.LocalVec(), cm.LocalVec()
+    v1.append(m.LocalType(1))
+    v1.append(m.LocalType(2))
+    v2.append(cm.LocalType(1))
+    v2.append(cm.LocalType(2))
+
+    # Cross module value loading:
+    v1.append(cm.LocalType(3))
+    v2.append(m.LocalType(3))
+
+    assert [i.get() for i in v1] == [0, 1, 2]
+    assert [i.get() for i in v2] == [2, 3, 4]
+
+    v3, v4 = m.NonLocalVec(), cm.NonLocalVec2()
+    v3.append(m.NonLocalType(1))
+    v3.append(m.NonLocalType(2))
+    v4.append(m.NonLocal2(3))
+    v4.append(m.NonLocal2(4))
+
+    assert [i.get() for i in v3] == [1, 2]
+    assert [i.get() for i in v4] == [13, 14]
+
+    d1, d2 = m.LocalMap(), cm.LocalMap()
+    d1["a"] = v1[0]
+    d1["b"] = v1[1]
+    d2["c"] = v2[0]
+    d2["d"] = v2[1]
+    assert {i: d1[i].get() for i in d1} == {'a': 0, 'b': 1}
+    assert {i: d2[i].get() for i in d2} == {'c': 2, 'd': 3}
+
+
+def test_stl_bind_global():
+    import pybind11_cross_module_tests as cm
+
+    with pytest.raises(RuntimeError) as excinfo:
+        cm.register_nonlocal_map()
+    assert str(excinfo.value) == 'generic_type: type "NonLocalMap" is already registered!'
+
+    with pytest.raises(RuntimeError) as excinfo:
+        cm.register_nonlocal_vec()
+    assert str(excinfo.value) == 'generic_type: type "NonLocalVec" is already registered!'
+
+    with pytest.raises(RuntimeError) as excinfo:
+        cm.register_nonlocal_map2()
+    assert str(excinfo.value) == 'generic_type: type "NonLocalMap2" is already registered!'
+
+
+def test_mixed_local_global():
+    """Local types take precedence over globally registered types: a module with a `module_local`
+    type can be registered even if the type is already registered globally.  With the module,
+    casting will go to the local type; outside the module casting goes to the global type."""
+    import pybind11_cross_module_tests as cm
+    m.register_mixed_global()
+    m.register_mixed_local()
+
+    a = []
+    a.append(m.MixedGlobalLocal(1))
+    a.append(m.MixedLocalGlobal(2))
+    a.append(m.get_mixed_gl(3))
+    a.append(m.get_mixed_lg(4))
+
+    assert [x.get() for x in a] == [101, 1002, 103, 1004]
+
+    cm.register_mixed_global_local()
+    cm.register_mixed_local_global()
+    a.append(m.MixedGlobalLocal(5))
+    a.append(m.MixedLocalGlobal(6))
+    a.append(cm.MixedGlobalLocal(7))
+    a.append(cm.MixedLocalGlobal(8))
+    a.append(m.get_mixed_gl(9))
+    a.append(m.get_mixed_lg(10))
+    a.append(cm.get_mixed_gl(11))
+    a.append(cm.get_mixed_lg(12))
+
+    assert [x.get() for x in a] == \
+        [101, 1002, 103, 1004, 105, 1006, 207, 2008, 109, 1010, 211, 2012]
+
+
+def test_internal_locals_differ():
+    """Makes sure the internal local type map differs across the two modules"""
+    import pybind11_cross_module_tests as cm
+    assert m.local_cpp_types_addr() != cm.local_cpp_types_addr()
+
+
+@pytest.mark.xfail("env.PYPY and sys.pypy_version_info < (7, 3, 2)")
+def test_stl_caster_vs_stl_bind(msg):
+    """One module uses a generic vector caster from `<pybind11/stl.h>` while the other
+    exports `std::vector<int>` via `py:bind_vector` and `py::module_local`"""
+    import pybind11_cross_module_tests as cm
+
+    v1 = cm.VectorInt([1, 2, 3])
+    assert m.load_vector_via_caster(v1) == 6
+    assert cm.load_vector_via_binding(v1) == 6
+
+    v2 = [1, 2, 3]
+    assert m.load_vector_via_caster(v2) == 6
+    with pytest.raises(TypeError) as excinfo:
+        cm.load_vector_via_binding(v2) == 6
+    assert msg(excinfo.value) == """
+    load_vector_via_binding(): incompatible function arguments. The following argument types are supported:
+        1. (arg0: pybind11_cross_module_tests.VectorInt) -> int
+
+    Invoked with: [1, 2, 3]
+    """  # noqa: E501 line too long
+
+
+def test_cross_module_calls():
+    import pybind11_cross_module_tests as cm
+
+    v1 = m.LocalVec()
+    v1.append(m.LocalType(1))
+    v2 = cm.LocalVec()
+    v2.append(cm.LocalType(2))
+
+    # Returning the self pointer should get picked up as returning an existing
+    # instance (even when that instance is of a foreign, non-local type).
+    assert m.return_self(v1) is v1
+    assert cm.return_self(v2) is v2
+    assert m.return_self(v2) is v2
+    assert cm.return_self(v1) is v1
+
+    assert m.LocalVec is not cm.LocalVec
+    # Returning a copy, on the other hand, always goes to the local type,
+    # regardless of where the source type came from.
+    assert type(m.return_copy(v1)) is m.LocalVec
+    assert type(m.return_copy(v2)) is m.LocalVec
+    assert type(cm.return_copy(v1)) is cm.LocalVec
+    assert type(cm.return_copy(v2)) is cm.LocalVec
+
+    # Test the example given in the documentation (which also tests inheritance casting):
+    mycat = m.Cat("Fluffy")
+    mydog = cm.Dog("Rover")
+    assert mycat.get_name() == "Fluffy"
+    assert mydog.name() == "Rover"
+    assert m.Cat.__base__.__name__ == "Pet"
+    assert cm.Dog.__base__.__name__ == "Pet"
+    assert m.Cat.__base__ is not cm.Dog.__base__
+    assert m.pet_name(mycat) == "Fluffy"
+    assert m.pet_name(mydog) == "Rover"
+    assert cm.pet_name(mycat) == "Fluffy"
+    assert cm.pet_name(mydog) == "Rover"
+
+    assert m.MixGL is not cm.MixGL
+    a = m.MixGL(1)
+    b = cm.MixGL(2)
+    assert m.get_gl_value(a) == 11
+    assert m.get_gl_value(b) == 12
+    assert cm.get_gl_value(a) == 101
+    assert cm.get_gl_value(b) == 102
+
+    c, d = m.MixGL2(3), cm.MixGL2(4)
+    with pytest.raises(TypeError) as excinfo:
+        m.get_gl_value(c)
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.get_gl_value(d)
+    assert "incompatible function arguments" in str(excinfo.value)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_methods_and_attributes.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_methods_and_attributes.cpp
new file mode 100644
index 0000000..8febefc
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_methods_and_attributes.cpp
@@ -0,0 +1,378 @@
+/*
+    tests/test_methods_and_attributes.cpp -- constructors, deconstructors, attribute access,
+    __str__, argument and return value conventions
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+
+#if !defined(PYBIND11_OVERLOAD_CAST)
+template <typename... Args>
+using overload_cast_ = pybind11::detail::overload_cast_impl<Args...>;
+#endif
+
+class ExampleMandA {
+public:
+    ExampleMandA() { print_default_created(this); }
+    ExampleMandA(int value) : value(value) { print_created(this, value); }
+    ExampleMandA(const ExampleMandA &e) : value(e.value) { print_copy_created(this); }
+    ExampleMandA(std::string&&) {}
+    ExampleMandA(ExampleMandA &&e) : value(e.value) { print_move_created(this); }
+    ~ExampleMandA() { print_destroyed(this); }
+
+    std::string toString() {
+        return "ExampleMandA[value=" + std::to_string(value) + "]";
+    }
+
+    void operator=(const ExampleMandA &e) { print_copy_assigned(this); value = e.value; }
+    void operator=(ExampleMandA &&e) { print_move_assigned(this); value = e.value; }
+
+    void add1(ExampleMandA other) { value += other.value; }         // passing by value
+    void add2(ExampleMandA &other) { value += other.value; }        // passing by reference
+    void add3(const ExampleMandA &other) { value += other.value; }  // passing by const reference
+    void add4(ExampleMandA *other) { value += other->value; }       // passing by pointer
+    void add5(const ExampleMandA *other) { value += other->value; } // passing by const pointer
+
+    void add6(int other) { value += other; }                        // passing by value
+    void add7(int &other) { value += other; }                       // passing by reference
+    void add8(const int &other) { value += other; }                 // passing by const reference
+    void add9(int *other) { value += *other; }                      // passing by pointer
+    void add10(const int *other) { value += *other; }               // passing by const pointer
+
+    void consume_str(std::string&&) {}
+
+    ExampleMandA self1() { return *this; }                          // return by value
+    ExampleMandA &self2() { return *this; }                         // return by reference
+    const ExampleMandA &self3() { return *this; }                   // return by const reference
+    ExampleMandA *self4() { return this; }                          // return by pointer
+    const ExampleMandA *self5() { return this; }                    // return by const pointer
+
+    int internal1() { return value; }                               // return by value
+    int &internal2() { return value; }                              // return by reference
+    const int &internal3() { return value; }                        // return by const reference
+    int *internal4() { return &value; }                             // return by pointer
+    const int *internal5() { return &value; }                       // return by const pointer
+
+    py::str overloaded()             { return "()"; }
+    py::str overloaded(int)          { return "(int)"; }
+    py::str overloaded(int, float)   { return "(int, float)"; }
+    py::str overloaded(float, int)   { return "(float, int)"; }
+    py::str overloaded(int, int)     { return "(int, int)"; }
+    py::str overloaded(float, float) { return "(float, float)"; }
+    py::str overloaded(int)          const { return "(int) const"; }
+    py::str overloaded(int, float)   const { return "(int, float) const"; }
+    py::str overloaded(float, int)   const { return "(float, int) const"; }
+    py::str overloaded(int, int)     const { return "(int, int) const"; }
+    py::str overloaded(float, float) const { return "(float, float) const"; }
+
+    static py::str overloaded(float) { return "static float"; }
+
+    int value = 0;
+};
+
+struct TestProperties {
+    int value = 1;
+    static int static_value;
+
+    int get() const { return value; }
+    void set(int v) { value = v; }
+
+    static int static_get() { return static_value; }
+    static void static_set(int v) { static_value = v; }
+};
+int TestProperties::static_value = 1;
+
+struct TestPropertiesOverride : TestProperties {
+    int value = 99;
+    static int static_value;
+};
+int TestPropertiesOverride::static_value = 99;
+
+struct TestPropRVP {
+    UserType v1{1};
+    UserType v2{1};
+    static UserType sv1;
+    static UserType sv2;
+
+    const UserType &get1() const { return v1; }
+    const UserType &get2() const { return v2; }
+    UserType get_rvalue() const { return v2; }
+    void set1(int v) { v1.set(v); }
+    void set2(int v) { v2.set(v); }
+};
+UserType TestPropRVP::sv1(1);
+UserType TestPropRVP::sv2(1);
+
+// Test None-allowed py::arg argument policy
+class NoneTester { public: int answer = 42; };
+int none1(const NoneTester &obj) { return obj.answer; }
+int none2(NoneTester *obj) { return obj ? obj->answer : -1; }
+int none3(std::shared_ptr<NoneTester> &obj) { return obj ? obj->answer : -1; }
+int none4(std::shared_ptr<NoneTester> *obj) { return obj && *obj ? (*obj)->answer : -1; }
+int none5(std::shared_ptr<NoneTester> obj) { return obj ? obj->answer : -1; }
+
+struct StrIssue {
+    int val = -1;
+
+    StrIssue() = default;
+    StrIssue(int i) : val{i} {}
+};
+
+// Issues #854, #910: incompatible function args when member function/pointer is in unregistered base class
+class UnregisteredBase {
+public:
+    void do_nothing() const {}
+    void increase_value() { rw_value++; ro_value += 0.25; }
+    void set_int(int v) { rw_value = v; }
+    int get_int() const { return rw_value; }
+    double get_double() const { return ro_value; }
+    int rw_value = 42;
+    double ro_value = 1.25;
+};
+class RegisteredDerived : public UnregisteredBase {
+public:
+    using UnregisteredBase::UnregisteredBase;
+    double sum() const { return rw_value + ro_value; }
+};
+
+// Test explicit lvalue ref-qualification
+struct RefQualified {
+    int value = 0;
+
+    void refQualified(int other) & { value += other; }
+    int constRefQualified(int other) const & { return value + other; }
+};
+
+TEST_SUBMODULE(methods_and_attributes, m) {
+    // test_methods_and_attributes
+    py::class_<ExampleMandA> emna(m, "ExampleMandA");
+    emna.def(py::init<>())
+        .def(py::init<int>())
+        .def(py::init<std::string&&>())
+        .def(py::init<const ExampleMandA&>())
+        .def("add1", &ExampleMandA::add1)
+        .def("add2", &ExampleMandA::add2)
+        .def("add3", &ExampleMandA::add3)
+        .def("add4", &ExampleMandA::add4)
+        .def("add5", &ExampleMandA::add5)
+        .def("add6", &ExampleMandA::add6)
+        .def("add7", &ExampleMandA::add7)
+        .def("add8", &ExampleMandA::add8)
+        .def("add9", &ExampleMandA::add9)
+        .def("add10", &ExampleMandA::add10)
+        .def("consume_str", &ExampleMandA::consume_str)
+        .def("self1", &ExampleMandA::self1)
+        .def("self2", &ExampleMandA::self2)
+        .def("self3", &ExampleMandA::self3)
+        .def("self4", &ExampleMandA::self4)
+        .def("self5", &ExampleMandA::self5)
+        .def("internal1", &ExampleMandA::internal1)
+        .def("internal2", &ExampleMandA::internal2)
+        .def("internal3", &ExampleMandA::internal3)
+        .def("internal4", &ExampleMandA::internal4)
+        .def("internal5", &ExampleMandA::internal5)
+#if defined(PYBIND11_OVERLOAD_CAST)
+        .def("overloaded", py::overload_cast<>(&ExampleMandA::overloaded))
+        .def("overloaded", py::overload_cast<int>(&ExampleMandA::overloaded))
+        .def("overloaded", py::overload_cast<int,   float>(&ExampleMandA::overloaded))
+        .def("overloaded", py::overload_cast<float,   int>(&ExampleMandA::overloaded))
+        .def("overloaded", py::overload_cast<int,     int>(&ExampleMandA::overloaded))
+        .def("overloaded", py::overload_cast<float, float>(&ExampleMandA::overloaded))
+        .def("overloaded_float", py::overload_cast<float, float>(&ExampleMandA::overloaded))
+        .def("overloaded_const", py::overload_cast<int         >(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const", py::overload_cast<int,   float>(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const", py::overload_cast<float,   int>(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const", py::overload_cast<int,     int>(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const", py::overload_cast<float, float>(&ExampleMandA::overloaded, py::const_))
+#else
+        // Use both the traditional static_cast method and the C++11 compatible overload_cast_
+        .def("overloaded", overload_cast_<>()(&ExampleMandA::overloaded))
+        .def("overloaded", overload_cast_<int>()(&ExampleMandA::overloaded))
+        .def("overloaded", overload_cast_<int,   float>()(&ExampleMandA::overloaded))
+        .def("overloaded", static_cast<py::str (ExampleMandA::*)(float,   int)>(&ExampleMandA::overloaded))
+        .def("overloaded", static_cast<py::str (ExampleMandA::*)(int,     int)>(&ExampleMandA::overloaded))
+        .def("overloaded", static_cast<py::str (ExampleMandA::*)(float, float)>(&ExampleMandA::overloaded))
+        .def("overloaded_float", overload_cast_<float, float>()(&ExampleMandA::overloaded))
+        .def("overloaded_const", overload_cast_<int         >()(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const", overload_cast_<int,   float>()(&ExampleMandA::overloaded, py::const_))
+        .def("overloaded_const", static_cast<py::str (ExampleMandA::*)(float,   int) const>(&ExampleMandA::overloaded))
+        .def("overloaded_const", static_cast<py::str (ExampleMandA::*)(int,     int) const>(&ExampleMandA::overloaded))
+        .def("overloaded_const", static_cast<py::str (ExampleMandA::*)(float, float) const>(&ExampleMandA::overloaded))
+#endif
+        // test_no_mixed_overloads
+        // Raise error if trying to mix static/non-static overloads on the same name:
+        .def_static("add_mixed_overloads1", []() {
+            auto emna = py::reinterpret_borrow<py::class_<ExampleMandA>>(py::module_::import("pybind11_tests.methods_and_attributes").attr("ExampleMandA"));
+            emna.def       ("overload_mixed1", static_cast<py::str (ExampleMandA::*)(int, int)>(&ExampleMandA::overloaded))
+                .def_static("overload_mixed1", static_cast<py::str (              *)(float   )>(&ExampleMandA::overloaded));
+        })
+        .def_static("add_mixed_overloads2", []() {
+            auto emna = py::reinterpret_borrow<py::class_<ExampleMandA>>(py::module_::import("pybind11_tests.methods_and_attributes").attr("ExampleMandA"));
+            emna.def_static("overload_mixed2", static_cast<py::str (              *)(float   )>(&ExampleMandA::overloaded))
+                .def       ("overload_mixed2", static_cast<py::str (ExampleMandA::*)(int, int)>(&ExampleMandA::overloaded));
+        })
+        .def("__str__", &ExampleMandA::toString)
+        .def_readwrite("value", &ExampleMandA::value);
+
+    // test_copy_method
+    // Issue #443: can't call copied methods in Python 3
+    emna.attr("add2b") = emna.attr("add2");
+
+    // test_properties, test_static_properties, test_static_cls
+    py::class_<TestProperties>(m, "TestProperties")
+        .def(py::init<>())
+        .def_readonly("def_readonly", &TestProperties::value)
+        .def_readwrite("def_readwrite", &TestProperties::value)
+        .def_property("def_writeonly", nullptr,
+                      [](TestProperties& s,int v) { s.value = v; } )
+        .def_property("def_property_writeonly", nullptr, &TestProperties::set)
+        .def_property_readonly("def_property_readonly", &TestProperties::get)
+        .def_property("def_property", &TestProperties::get, &TestProperties::set)
+        .def_property("def_property_impossible", nullptr, nullptr)
+        .def_readonly_static("def_readonly_static", &TestProperties::static_value)
+        .def_readwrite_static("def_readwrite_static", &TestProperties::static_value)
+        .def_property_static("def_writeonly_static", nullptr,
+                             [](py::object, int v) { TestProperties::static_value = v; })
+        .def_property_readonly_static("def_property_readonly_static",
+                                      [](py::object) { return TestProperties::static_get(); })
+        .def_property_static("def_property_writeonly_static", nullptr,
+                             [](py::object, int v) { return TestProperties::static_set(v); })
+        .def_property_static("def_property_static",
+                             [](py::object) { return TestProperties::static_get(); },
+                             [](py::object, int v) { TestProperties::static_set(v); })
+        .def_property_static("static_cls",
+                             [](py::object cls) { return cls; },
+                             [](py::object cls, py::function f) { f(cls); });
+
+    py::class_<TestPropertiesOverride, TestProperties>(m, "TestPropertiesOverride")
+        .def(py::init<>())
+        .def_readonly("def_readonly", &TestPropertiesOverride::value)
+        .def_readonly_static("def_readonly_static", &TestPropertiesOverride::static_value);
+
+    auto static_get1 = [](py::object) -> const UserType & { return TestPropRVP::sv1; };
+    auto static_get2 = [](py::object) -> const UserType & { return TestPropRVP::sv2; };
+    auto static_set1 = [](py::object, int v) { TestPropRVP::sv1.set(v); };
+    auto static_set2 = [](py::object, int v) { TestPropRVP::sv2.set(v); };
+    auto rvp_copy = py::return_value_policy::copy;
+
+    // test_property_return_value_policies
+    py::class_<TestPropRVP>(m, "TestPropRVP")
+        .def(py::init<>())
+        .def_property_readonly("ro_ref", &TestPropRVP::get1)
+        .def_property_readonly("ro_copy", &TestPropRVP::get2, rvp_copy)
+        .def_property_readonly("ro_func", py::cpp_function(&TestPropRVP::get2, rvp_copy))
+        .def_property("rw_ref", &TestPropRVP::get1, &TestPropRVP::set1)
+        .def_property("rw_copy", &TestPropRVP::get2, &TestPropRVP::set2, rvp_copy)
+        .def_property("rw_func", py::cpp_function(&TestPropRVP::get2, rvp_copy), &TestPropRVP::set2)
+        .def_property_readonly_static("static_ro_ref", static_get1)
+        .def_property_readonly_static("static_ro_copy", static_get2, rvp_copy)
+        .def_property_readonly_static("static_ro_func", py::cpp_function(static_get2, rvp_copy))
+        .def_property_static("static_rw_ref", static_get1, static_set1)
+        .def_property_static("static_rw_copy", static_get2, static_set2, rvp_copy)
+        .def_property_static("static_rw_func", py::cpp_function(static_get2, rvp_copy), static_set2)
+        // test_property_rvalue_policy
+        .def_property_readonly("rvalue", &TestPropRVP::get_rvalue)
+        .def_property_readonly_static("static_rvalue", [](py::object) { return UserType(1); });
+
+    // test_metaclass_override
+    struct MetaclassOverride { };
+    py::class_<MetaclassOverride>(m, "MetaclassOverride", py::metaclass((PyObject *) &PyType_Type))
+        .def_property_readonly_static("readonly", [](py::object) { return 1; });
+
+    // test_overload_ordering
+    m.def("overload_order", [](std::string) { return 1; });
+    m.def("overload_order", [](std::string) { return 2; });
+    m.def("overload_order", [](int) { return 3; });
+    m.def("overload_order", [](int) { return 4; }, py::prepend{});
+
+#if !defined(PYPY_VERSION)
+    // test_dynamic_attributes
+    class DynamicClass {
+    public:
+        DynamicClass() { print_default_created(this); }
+        DynamicClass(const DynamicClass&) = delete;
+        ~DynamicClass() { print_destroyed(this); }
+    };
+    py::class_<DynamicClass>(m, "DynamicClass", py::dynamic_attr())
+        .def(py::init());
+
+    class CppDerivedDynamicClass : public DynamicClass { };
+    py::class_<CppDerivedDynamicClass, DynamicClass>(m, "CppDerivedDynamicClass")
+        .def(py::init());
+#endif
+
+    // test_bad_arg_default
+    // Issue/PR #648: bad arg default debugging output
+#if !defined(NDEBUG)
+    m.attr("debug_enabled") = true;
+#else
+    m.attr("debug_enabled") = false;
+#endif
+    m.def("bad_arg_def_named", []{
+        auto m = py::module_::import("pybind11_tests");
+        m.def("should_fail", [](int, UnregisteredType) {}, py::arg(), py::arg("a") = UnregisteredType());
+    });
+    m.def("bad_arg_def_unnamed", []{
+        auto m = py::module_::import("pybind11_tests");
+        m.def("should_fail", [](int, UnregisteredType) {}, py::arg(), py::arg() = UnregisteredType());
+    });
+
+    // test_accepts_none
+    py::class_<NoneTester, std::shared_ptr<NoneTester>>(m, "NoneTester")
+        .def(py::init<>());
+    m.def("no_none1", &none1, py::arg().none(false));
+    m.def("no_none2", &none2, py::arg().none(false));
+    m.def("no_none3", &none3, py::arg().none(false));
+    m.def("no_none4", &none4, py::arg().none(false));
+    m.def("no_none5", &none5, py::arg().none(false));
+    m.def("ok_none1", &none1);
+    m.def("ok_none2", &none2, py::arg().none(true));
+    m.def("ok_none3", &none3);
+    m.def("ok_none4", &none4, py::arg().none(true));
+    m.def("ok_none5", &none5);
+
+    // test_str_issue
+    // Issue #283: __str__ called on uninitialized instance when constructor arguments invalid
+    py::class_<StrIssue>(m, "StrIssue")
+        .def(py::init<int>())
+        .def(py::init<>())
+        .def("__str__", [](const StrIssue &si) {
+            return "StrIssue[" + std::to_string(si.val) + "]"; }
+        );
+
+    // test_unregistered_base_implementations
+    //
+    // Issues #854/910: incompatible function args when member function/pointer is in unregistered
+    // base class The methods and member pointers below actually resolve to members/pointers in
+    // UnregisteredBase; before this test/fix they would be registered via lambda with a first
+    // argument of an unregistered type, and thus uncallable.
+    py::class_<RegisteredDerived>(m, "RegisteredDerived")
+        .def(py::init<>())
+        .def("do_nothing", &RegisteredDerived::do_nothing)
+        .def("increase_value", &RegisteredDerived::increase_value)
+        .def_readwrite("rw_value", &RegisteredDerived::rw_value)
+        .def_readonly("ro_value", &RegisteredDerived::ro_value)
+        // These should trigger a static_assert if uncommented
+        //.def_readwrite("fails", &UserType::value) // should trigger a static_assert if uncommented
+        //.def_readonly("fails", &UserType::value) // should trigger a static_assert if uncommented
+        .def_property("rw_value_prop", &RegisteredDerived::get_int, &RegisteredDerived::set_int)
+        .def_property_readonly("ro_value_prop", &RegisteredDerived::get_double)
+        // This one is in the registered class:
+        .def("sum", &RegisteredDerived::sum)
+        ;
+
+    using Adapted = decltype(py::method_adaptor<RegisteredDerived>(&RegisteredDerived::do_nothing));
+    static_assert(std::is_same<Adapted, void (RegisteredDerived::*)() const>::value, "");
+
+    // test_methods_and_attributes
+    py::class_<RefQualified>(m, "RefQualified")
+        .def(py::init<>())
+        .def_readonly("value", &RefQualified::value)
+        .def("refQualified", &RefQualified::refQualified)
+        .def("constRefQualified", &RefQualified::constRefQualified);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_methods_and_attributes.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_methods_and_attributes.py
new file mode 100644
index 0000000..d579329
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_methods_and_attributes.py
@@ -0,0 +1,462 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import methods_and_attributes as m
+from pybind11_tests import ConstructorStats
+
+
+def test_methods_and_attributes():
+    instance1 = m.ExampleMandA()
+    instance2 = m.ExampleMandA(32)
+
+    instance1.add1(instance2)
+    instance1.add2(instance2)
+    instance1.add3(instance2)
+    instance1.add4(instance2)
+    instance1.add5(instance2)
+    instance1.add6(32)
+    instance1.add7(32)
+    instance1.add8(32)
+    instance1.add9(32)
+    instance1.add10(32)
+
+    assert str(instance1) == "ExampleMandA[value=320]"
+    assert str(instance2) == "ExampleMandA[value=32]"
+    assert str(instance1.self1()) == "ExampleMandA[value=320]"
+    assert str(instance1.self2()) == "ExampleMandA[value=320]"
+    assert str(instance1.self3()) == "ExampleMandA[value=320]"
+    assert str(instance1.self4()) == "ExampleMandA[value=320]"
+    assert str(instance1.self5()) == "ExampleMandA[value=320]"
+
+    assert instance1.internal1() == 320
+    assert instance1.internal2() == 320
+    assert instance1.internal3() == 320
+    assert instance1.internal4() == 320
+    assert instance1.internal5() == 320
+
+    assert instance1.overloaded() == "()"
+    assert instance1.overloaded(0) == "(int)"
+    assert instance1.overloaded(1, 1.0) == "(int, float)"
+    assert instance1.overloaded(2.0, 2) == "(float, int)"
+    assert instance1.overloaded(3,   3) == "(int, int)"
+    assert instance1.overloaded(4., 4.) == "(float, float)"
+    assert instance1.overloaded_const(-3) == "(int) const"
+    assert instance1.overloaded_const(5, 5.0) == "(int, float) const"
+    assert instance1.overloaded_const(6.0, 6) == "(float, int) const"
+    assert instance1.overloaded_const(7,   7) == "(int, int) const"
+    assert instance1.overloaded_const(8., 8.) == "(float, float) const"
+    assert instance1.overloaded_float(1, 1) == "(float, float)"
+    assert instance1.overloaded_float(1, 1.) == "(float, float)"
+    assert instance1.overloaded_float(1., 1) == "(float, float)"
+    assert instance1.overloaded_float(1., 1.) == "(float, float)"
+
+    assert instance1.value == 320
+    instance1.value = 100
+    assert str(instance1) == "ExampleMandA[value=100]"
+
+    cstats = ConstructorStats.get(m.ExampleMandA)
+    assert cstats.alive() == 2
+    del instance1, instance2
+    assert cstats.alive() == 0
+    assert cstats.values() == ["32"]
+    assert cstats.default_constructions == 1
+    assert cstats.copy_constructions == 2
+    assert cstats.move_constructions >= 2
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+
+def test_copy_method():
+    """Issue #443: calling copied methods fails in Python 3"""
+
+    m.ExampleMandA.add2c = m.ExampleMandA.add2
+    m.ExampleMandA.add2d = m.ExampleMandA.add2b
+    a = m.ExampleMandA(123)
+    assert a.value == 123
+    a.add2(m.ExampleMandA(-100))
+    assert a.value == 23
+    a.add2b(m.ExampleMandA(20))
+    assert a.value == 43
+    a.add2c(m.ExampleMandA(6))
+    assert a.value == 49
+    a.add2d(m.ExampleMandA(-7))
+    assert a.value == 42
+
+
+def test_properties():
+    instance = m.TestProperties()
+
+    assert instance.def_readonly == 1
+    with pytest.raises(AttributeError):
+        instance.def_readonly = 2
+
+    instance.def_readwrite = 2
+    assert instance.def_readwrite == 2
+
+    assert instance.def_property_readonly == 2
+    with pytest.raises(AttributeError):
+        instance.def_property_readonly = 3
+
+    instance.def_property = 3
+    assert instance.def_property == 3
+
+    with pytest.raises(AttributeError) as excinfo:
+        dummy = instance.def_property_writeonly  # noqa: F841 unused var
+    assert "unreadable attribute" in str(excinfo.value)
+
+    instance.def_property_writeonly = 4
+    assert instance.def_property_readonly == 4
+
+    with pytest.raises(AttributeError) as excinfo:
+        dummy = instance.def_property_impossible  # noqa: F841 unused var
+    assert "unreadable attribute" in str(excinfo.value)
+
+    with pytest.raises(AttributeError) as excinfo:
+        instance.def_property_impossible = 5
+    assert "can't set attribute" in str(excinfo.value)
+
+
+def test_static_properties():
+    assert m.TestProperties.def_readonly_static == 1
+    with pytest.raises(AttributeError) as excinfo:
+        m.TestProperties.def_readonly_static = 2
+    assert "can't set attribute" in str(excinfo.value)
+
+    m.TestProperties.def_readwrite_static = 2
+    assert m.TestProperties.def_readwrite_static == 2
+
+    with pytest.raises(AttributeError) as excinfo:
+        dummy = m.TestProperties.def_writeonly_static  # noqa: F841 unused var
+    assert "unreadable attribute" in str(excinfo.value)
+
+    m.TestProperties.def_writeonly_static = 3
+    assert m.TestProperties.def_readonly_static == 3
+
+    assert m.TestProperties.def_property_readonly_static == 3
+    with pytest.raises(AttributeError) as excinfo:
+        m.TestProperties.def_property_readonly_static = 99
+    assert "can't set attribute" in str(excinfo.value)
+
+    m.TestProperties.def_property_static = 4
+    assert m.TestProperties.def_property_static == 4
+
+    with pytest.raises(AttributeError) as excinfo:
+        dummy = m.TestProperties.def_property_writeonly_static
+    assert "unreadable attribute" in str(excinfo.value)
+
+    m.TestProperties.def_property_writeonly_static = 5
+    assert m.TestProperties.def_property_static == 5
+
+    # Static property read and write via instance
+    instance = m.TestProperties()
+
+    m.TestProperties.def_readwrite_static = 0
+    assert m.TestProperties.def_readwrite_static == 0
+    assert instance.def_readwrite_static == 0
+
+    instance.def_readwrite_static = 2
+    assert m.TestProperties.def_readwrite_static == 2
+    assert instance.def_readwrite_static == 2
+
+    with pytest.raises(AttributeError) as excinfo:
+        dummy = instance.def_property_writeonly_static  # noqa: F841 unused var
+    assert "unreadable attribute" in str(excinfo.value)
+
+    instance.def_property_writeonly_static = 4
+    assert instance.def_property_static == 4
+
+    # It should be possible to override properties in derived classes
+    assert m.TestPropertiesOverride().def_readonly == 99
+    assert m.TestPropertiesOverride.def_readonly_static == 99
+
+
+def test_static_cls():
+    """Static property getter and setters expect the type object as the their only argument"""
+
+    instance = m.TestProperties()
+    assert m.TestProperties.static_cls is m.TestProperties
+    assert instance.static_cls is m.TestProperties
+
+    def check_self(self):
+        assert self is m.TestProperties
+
+    m.TestProperties.static_cls = check_self
+    instance.static_cls = check_self
+
+
+def test_metaclass_override():
+    """Overriding pybind11's default metaclass changes the behavior of `static_property`"""
+
+    assert type(m.ExampleMandA).__name__ == "pybind11_type"
+    assert type(m.MetaclassOverride).__name__ == "type"
+
+    assert m.MetaclassOverride.readonly == 1
+    assert type(m.MetaclassOverride.__dict__["readonly"]).__name__ == "pybind11_static_property"
+
+    # Regular `type` replaces the property instead of calling `__set__()`
+    m.MetaclassOverride.readonly = 2
+    assert m.MetaclassOverride.readonly == 2
+    assert isinstance(m.MetaclassOverride.__dict__["readonly"], int)
+
+
+def test_no_mixed_overloads():
+    from pybind11_tests import debug_enabled
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.ExampleMandA.add_mixed_overloads1()
+    assert (str(excinfo.value) ==
+            "overloading a method with both static and instance methods is not supported; " +
+            ("compile in debug mode for more details" if not debug_enabled else
+             "error while attempting to bind static method ExampleMandA.overload_mixed1"
+             "(arg0: float) -> str")
+            )
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.ExampleMandA.add_mixed_overloads2()
+    assert (str(excinfo.value) ==
+            "overloading a method with both static and instance methods is not supported; " +
+            ("compile in debug mode for more details" if not debug_enabled else
+             "error while attempting to bind instance method ExampleMandA.overload_mixed2"
+             "(self: pybind11_tests.methods_and_attributes.ExampleMandA, arg0: int, arg1: int)"
+             " -> str")
+            )
+
+
+@pytest.mark.parametrize("access", ["ro", "rw", "static_ro", "static_rw"])
+def test_property_return_value_policies(access):
+    if not access.startswith("static"):
+        obj = m.TestPropRVP()
+    else:
+        obj = m.TestPropRVP
+
+    ref = getattr(obj, access + "_ref")
+    assert ref.value == 1
+    ref.value = 2
+    assert getattr(obj, access + "_ref").value == 2
+    ref.value = 1  # restore original value for static properties
+
+    copy = getattr(obj, access + "_copy")
+    assert copy.value == 1
+    copy.value = 2
+    assert getattr(obj, access + "_copy").value == 1
+
+    copy = getattr(obj, access + "_func")
+    assert copy.value == 1
+    copy.value = 2
+    assert getattr(obj, access + "_func").value == 1
+
+
+def test_property_rvalue_policy():
+    """When returning an rvalue, the return value policy is automatically changed from
+    `reference(_internal)` to `move`. The following would not work otherwise."""
+
+    instance = m.TestPropRVP()
+    o = instance.rvalue
+    assert o.value == 1
+
+    os = m.TestPropRVP.static_rvalue
+    assert os.value == 1
+
+
+# https://foss.heptapod.net/pypy/pypy/-/issues/2447
+@pytest.mark.xfail("env.PYPY")
+def test_dynamic_attributes():
+    instance = m.DynamicClass()
+    assert not hasattr(instance, "foo")
+    assert "foo" not in dir(instance)
+
+    # Dynamically add attribute
+    instance.foo = 42
+    assert hasattr(instance, "foo")
+    assert instance.foo == 42
+    assert "foo" in dir(instance)
+
+    # __dict__ should be accessible and replaceable
+    assert "foo" in instance.__dict__
+    instance.__dict__ = {"bar": True}
+    assert not hasattr(instance, "foo")
+    assert hasattr(instance, "bar")
+
+    with pytest.raises(TypeError) as excinfo:
+        instance.__dict__ = []
+    assert str(excinfo.value) == "__dict__ must be set to a dictionary, not a 'list'"
+
+    cstats = ConstructorStats.get(m.DynamicClass)
+    assert cstats.alive() == 1
+    del instance
+    assert cstats.alive() == 0
+
+    # Derived classes should work as well
+    class PythonDerivedDynamicClass(m.DynamicClass):
+        pass
+
+    for cls in m.CppDerivedDynamicClass, PythonDerivedDynamicClass:
+        derived = cls()
+        derived.foobar = 100
+        assert derived.foobar == 100
+
+        assert cstats.alive() == 1
+        del derived
+        assert cstats.alive() == 0
+
+
+# https://foss.heptapod.net/pypy/pypy/-/issues/2447
+@pytest.mark.xfail("env.PYPY")
+def test_cyclic_gc():
+    # One object references itself
+    instance = m.DynamicClass()
+    instance.circular_reference = instance
+
+    cstats = ConstructorStats.get(m.DynamicClass)
+    assert cstats.alive() == 1
+    del instance
+    assert cstats.alive() == 0
+
+    # Two object reference each other
+    i1 = m.DynamicClass()
+    i2 = m.DynamicClass()
+    i1.cycle = i2
+    i2.cycle = i1
+
+    assert cstats.alive() == 2
+    del i1, i2
+    assert cstats.alive() == 0
+
+
+def test_bad_arg_default(msg):
+    from pybind11_tests import debug_enabled
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.bad_arg_def_named()
+    assert msg(excinfo.value) == (
+        "arg(): could not convert default argument 'a: UnregisteredType' in function "
+        "'should_fail' into a Python object (type not registered yet?)"
+        if debug_enabled else
+        "arg(): could not convert default argument into a Python object (type not registered "
+        "yet?). Compile in debug mode for more information."
+    )
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.bad_arg_def_unnamed()
+    assert msg(excinfo.value) == (
+        "arg(): could not convert default argument 'UnregisteredType' in function "
+        "'should_fail' into a Python object (type not registered yet?)"
+        if debug_enabled else
+        "arg(): could not convert default argument into a Python object (type not registered "
+        "yet?). Compile in debug mode for more information."
+    )
+
+
+def test_accepts_none(msg):
+    a = m.NoneTester()
+    assert m.no_none1(a) == 42
+    assert m.no_none2(a) == 42
+    assert m.no_none3(a) == 42
+    assert m.no_none4(a) == 42
+    assert m.no_none5(a) == 42
+    assert m.ok_none1(a) == 42
+    assert m.ok_none2(a) == 42
+    assert m.ok_none3(a) == 42
+    assert m.ok_none4(a) == 42
+    assert m.ok_none5(a) == 42
+
+    with pytest.raises(TypeError) as excinfo:
+        m.no_none1(None)
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.no_none2(None)
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.no_none3(None)
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.no_none4(None)
+    assert "incompatible function arguments" in str(excinfo.value)
+    with pytest.raises(TypeError) as excinfo:
+        m.no_none5(None)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    # The first one still raises because you can't pass None as a lvalue reference arg:
+    with pytest.raises(TypeError) as excinfo:
+        assert m.ok_none1(None) == -1
+    assert msg(excinfo.value) == """
+        ok_none1(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: m.methods_and_attributes.NoneTester) -> int
+
+        Invoked with: None
+    """
+
+    # The rest take the argument as pointer or holder, and accept None:
+    assert m.ok_none2(None) == -1
+    assert m.ok_none3(None) == -1
+    assert m.ok_none4(None) == -1
+    assert m.ok_none5(None) == -1
+
+
+def test_str_issue(msg):
+    """#283: __str__ called on uninitialized instance when constructor arguments invalid"""
+
+    assert str(m.StrIssue(3)) == "StrIssue[3]"
+
+    with pytest.raises(TypeError) as excinfo:
+        str(m.StrIssue("no", "such", "constructor"))
+    assert msg(excinfo.value) == """
+        __init__(): incompatible constructor arguments. The following argument types are supported:
+            1. m.methods_and_attributes.StrIssue(arg0: int)
+            2. m.methods_and_attributes.StrIssue()
+
+        Invoked with: 'no', 'such', 'constructor'
+    """
+
+
+def test_unregistered_base_implementations():
+    a = m.RegisteredDerived()
+    a.do_nothing()
+    assert a.rw_value == 42
+    assert a.ro_value == 1.25
+    a.rw_value += 5
+    assert a.sum() == 48.25
+    a.increase_value()
+    assert a.rw_value == 48
+    assert a.ro_value == 1.5
+    assert a.sum() == 49.5
+    assert a.rw_value_prop == 48
+    a.rw_value_prop += 1
+    assert a.rw_value_prop == 49
+    a.increase_value()
+    assert a.ro_value_prop == 1.75
+
+
+def test_ref_qualified():
+    """Tests that explicit lvalue ref-qualified methods can be called just like their
+    non ref-qualified counterparts."""
+
+    r = m.RefQualified()
+    assert r.value == 0
+    r.refQualified(17)
+    assert r.value == 17
+    assert r.constRefQualified(23) == 40
+
+
+def test_overload_ordering():
+    'Check to see if the normal overload order (first defined) and prepend overload order works'
+    assert m.overload_order("string") == 1
+    assert m.overload_order(0) == 4
+
+    # Different for Python 2 vs. 3
+    uni_name = type(u"").__name__
+
+    assert "1. overload_order(arg0: int) -> int" in m.overload_order.__doc__
+    assert "2. overload_order(arg0: {}) -> int".format(uni_name) in m.overload_order.__doc__
+    assert "3. overload_order(arg0: {}) -> int".format(uni_name) in m.overload_order.__doc__
+    assert "4. overload_order(arg0: int) -> int" in m.overload_order.__doc__
+
+    with pytest.raises(TypeError) as err:
+        m.overload_order(1.1)
+
+    assert "1. (arg0: int) -> int" in str(err.value)
+    assert "2. (arg0: {}) -> int".format(uni_name) in str(err.value)
+    assert "3. (arg0: {}) -> int".format(uni_name) in str(err.value)
+    assert "4. (arg0: int) -> int" in str(err.value)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_modules.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_modules.cpp
new file mode 100644
index 0000000..67387e8
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_modules.cpp
@@ -0,0 +1,101 @@
+/*
+    tests/test_modules.cpp -- nested modules, importing modules, and
+                            internal references
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+
+TEST_SUBMODULE(modules, m) {
+    // test_nested_modules
+    // This is intentionally "py::module" to verify it still can be used in place of "py::module_"
+    py::module m_sub = m.def_submodule("subsubmodule");
+    m_sub.def("submodule_func", []() { return "submodule_func()"; });
+
+    // test_reference_internal
+    class A {
+    public:
+        A(int v) : v(v) { print_created(this, v); }
+        ~A() { print_destroyed(this); }
+        A(const A&) { print_copy_created(this); }
+        A& operator=(const A &copy) { print_copy_assigned(this); v = copy.v; return *this; }
+        std::string toString() { return "A[" + std::to_string(v) + "]"; }
+    private:
+        int v;
+    };
+    py::class_<A>(m_sub, "A")
+        .def(py::init<int>())
+        .def("__repr__", &A::toString);
+
+    class B {
+    public:
+        B() { print_default_created(this); }
+        ~B() { print_destroyed(this); }
+        B(const B&) { print_copy_created(this); }
+        B& operator=(const B &copy) { print_copy_assigned(this); a1 = copy.a1; a2 = copy.a2; return *this; }
+        A &get_a1() { return a1; }
+        A &get_a2() { return a2; }
+
+        A a1{1};
+        A a2{2};
+    };
+    py::class_<B>(m_sub, "B")
+        .def(py::init<>())
+        .def("get_a1", &B::get_a1, "Return the internal A 1", py::return_value_policy::reference_internal)
+        .def("get_a2", &B::get_a2, "Return the internal A 2", py::return_value_policy::reference_internal)
+        .def_readwrite("a1", &B::a1)  // def_readonly uses an internal reference return policy by default
+        .def_readwrite("a2", &B::a2);
+
+    // This is intentionally "py::module" to verify it still can be used in place of "py::module_"
+    m.attr("OD") = py::module::import("collections").attr("OrderedDict");
+
+    // test_duplicate_registration
+    // Registering two things with the same name
+    m.def("duplicate_registration", []() {
+        class Dupe1 { };
+        class Dupe2 { };
+        class Dupe3 { };
+        class DupeException { };
+
+        // Go ahead and leak, until we have a non-leaking py::module_ constructor
+        auto dm = py::module_::create_extension_module("dummy", nullptr, new py::module_::module_def);
+        auto failures = py::list();
+
+        py::class_<Dupe1>(dm, "Dupe1");
+        py::class_<Dupe2>(dm, "Dupe2");
+        dm.def("dupe1_factory", []() { return Dupe1(); });
+        py::exception<DupeException>(dm, "DupeException");
+
+        try {
+            py::class_<Dupe1>(dm, "Dupe1");
+            failures.append("Dupe1 class");
+        } catch (std::runtime_error &) {}
+        try {
+            dm.def("Dupe1", []() { return Dupe1(); });
+            failures.append("Dupe1 function");
+        } catch (std::runtime_error &) {}
+        try {
+            py::class_<Dupe3>(dm, "dupe1_factory");
+            failures.append("dupe1_factory");
+        } catch (std::runtime_error &) {}
+        try {
+            py::exception<Dupe3>(dm, "Dupe2");
+            failures.append("Dupe2");
+        } catch (std::runtime_error &) {}
+        try {
+            dm.def("DupeException", []() { return 30; });
+            failures.append("DupeException1");
+        } catch (std::runtime_error &) {}
+        try {
+            py::class_<DupeException>(dm, "DupeException");
+            failures.append("DupeException2");
+        } catch (std::runtime_error &) {}
+
+        return failures;
+    });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_modules.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_modules.py
new file mode 100644
index 0000000..7e21005
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_modules.py
@@ -0,0 +1,73 @@
+# -*- coding: utf-8 -*-
+from pybind11_tests import modules as m
+from pybind11_tests.modules import subsubmodule as ms
+from pybind11_tests import ConstructorStats
+
+
+def test_nested_modules():
+    import pybind11_tests
+    assert pybind11_tests.__name__ == "pybind11_tests"
+    assert pybind11_tests.modules.__name__ == "pybind11_tests.modules"
+    assert pybind11_tests.modules.subsubmodule.__name__ == "pybind11_tests.modules.subsubmodule"
+    assert m.__name__ == "pybind11_tests.modules"
+    assert ms.__name__ == "pybind11_tests.modules.subsubmodule"
+
+    assert ms.submodule_func() == "submodule_func()"
+
+
+def test_reference_internal():
+    b = ms.B()
+    assert str(b.get_a1()) == "A[1]"
+    assert str(b.a1) == "A[1]"
+    assert str(b.get_a2()) == "A[2]"
+    assert str(b.a2) == "A[2]"
+
+    b.a1 = ms.A(42)
+    b.a2 = ms.A(43)
+    assert str(b.get_a1()) == "A[42]"
+    assert str(b.a1) == "A[42]"
+    assert str(b.get_a2()) == "A[43]"
+    assert str(b.a2) == "A[43]"
+
+    astats, bstats = ConstructorStats.get(ms.A), ConstructorStats.get(ms.B)
+    assert astats.alive() == 2
+    assert bstats.alive() == 1
+    del b
+    assert astats.alive() == 0
+    assert bstats.alive() == 0
+    assert astats.values() == ['1', '2', '42', '43']
+    assert bstats.values() == []
+    assert astats.default_constructions == 0
+    assert bstats.default_constructions == 1
+    assert astats.copy_constructions == 0
+    assert bstats.copy_constructions == 0
+    # assert astats.move_constructions >= 0  # Don't invoke any
+    # assert bstats.move_constructions >= 0  # Don't invoke any
+    assert astats.copy_assignments == 2
+    assert bstats.copy_assignments == 0
+    assert astats.move_assignments == 0
+    assert bstats.move_assignments == 0
+
+
+def test_importing():
+    from pybind11_tests.modules import OD
+    from collections import OrderedDict
+
+    assert OD is OrderedDict
+    assert str(OD([(1, 'a'), (2, 'b')])) == "OrderedDict([(1, 'a'), (2, 'b')])"
+
+
+def test_pydoc():
+    """Pydoc needs to be able to provide help() for everything inside a pybind11 module"""
+    import pybind11_tests
+    import pydoc
+
+    assert pybind11_tests.__name__ == "pybind11_tests"
+    assert pybind11_tests.__doc__ == "pybind11 test module"
+    assert pydoc.text.docmodule(pybind11_tests)
+
+
+def test_duplicate_registration():
+    """Registering two things with the same name"""
+
+    assert m.duplicate_registration() == []
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_multiple_inheritance.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_multiple_inheritance.cpp
new file mode 100644
index 0000000..e672008
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_multiple_inheritance.cpp
@@ -0,0 +1,218 @@
+/*
+    tests/test_multiple_inheritance.cpp -- multiple inheritance,
+    implicit MI casts
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+
+// Many bases for testing that multiple inheritance from many classes (i.e. requiring extra
+// space for holder constructed flags) works.
+template <int N> struct BaseN {
+    BaseN(int i) : i(i) { }
+    int i;
+};
+
+// test_mi_static_properties
+struct Vanilla {
+    std::string vanilla() { return "Vanilla"; };
+};
+struct WithStatic1 {
+    static std::string static_func1() { return "WithStatic1"; };
+    static int static_value1;
+};
+struct WithStatic2 {
+    static std::string static_func2() { return "WithStatic2"; };
+    static int static_value2;
+};
+struct VanillaStaticMix1 : Vanilla, WithStatic1, WithStatic2 {
+    static std::string static_func() { return "VanillaStaticMix1"; }
+    static int static_value;
+};
+struct VanillaStaticMix2 : WithStatic1, Vanilla, WithStatic2 {
+    static std::string static_func() { return "VanillaStaticMix2"; }
+    static int static_value;
+};
+int WithStatic1::static_value1 = 1;
+int WithStatic2::static_value2 = 2;
+int VanillaStaticMix1::static_value = 12;
+int VanillaStaticMix2::static_value = 12;
+
+TEST_SUBMODULE(multiple_inheritance, m) {
+
+    // test_multiple_inheritance_mix1
+    // test_multiple_inheritance_mix2
+    struct Base1 {
+        Base1(int i) : i(i) { }
+        int foo() { return i; }
+        int i;
+    };
+    py::class_<Base1> b1(m, "Base1");
+    b1.def(py::init<int>())
+      .def("foo", &Base1::foo);
+
+    struct Base2 {
+        Base2(int i) : i(i) { }
+        int bar() { return i; }
+        int i;
+    };
+    py::class_<Base2> b2(m, "Base2");
+    b2.def(py::init<int>())
+      .def("bar", &Base2::bar);
+
+
+    // test_multiple_inheritance_cpp
+    struct Base12 : Base1, Base2 {
+        Base12(int i, int j) : Base1(i), Base2(j) { }
+    };
+    struct MIType : Base12 {
+        MIType(int i, int j) : Base12(i, j) { }
+    };
+    py::class_<Base12, Base1, Base2>(m, "Base12");
+    py::class_<MIType, Base12>(m, "MIType")
+        .def(py::init<int, int>());
+
+
+    // test_multiple_inheritance_python_many_bases
+    #define PYBIND11_BASEN(N) py::class_<BaseN<N>>(m, "BaseN" #N).def(py::init<int>()).def("f" #N, [](BaseN<N> &b) { return b.i + N; })
+    PYBIND11_BASEN( 1); PYBIND11_BASEN( 2); PYBIND11_BASEN( 3); PYBIND11_BASEN( 4);
+    PYBIND11_BASEN( 5); PYBIND11_BASEN( 6); PYBIND11_BASEN( 7); PYBIND11_BASEN( 8);
+    PYBIND11_BASEN( 9); PYBIND11_BASEN(10); PYBIND11_BASEN(11); PYBIND11_BASEN(12);
+    PYBIND11_BASEN(13); PYBIND11_BASEN(14); PYBIND11_BASEN(15); PYBIND11_BASEN(16);
+    PYBIND11_BASEN(17);
+
+    // Uncommenting this should result in a compile time failure (MI can only be specified via
+    // template parameters because pybind has to know the types involved; see discussion in #742 for
+    // details).
+//    struct Base12v2 : Base1, Base2 {
+//        Base12v2(int i, int j) : Base1(i), Base2(j) { }
+//    };
+//    py::class_<Base12v2>(m, "Base12v2", b1, b2)
+//        .def(py::init<int, int>());
+
+
+    // test_multiple_inheritance_virtbase
+    // Test the case where not all base classes are specified, and where pybind11 requires the
+    // py::multiple_inheritance flag to perform proper casting between types.
+    struct Base1a {
+        Base1a(int i) : i(i) { }
+        int foo() { return i; }
+        int i;
+    };
+    py::class_<Base1a, std::shared_ptr<Base1a>>(m, "Base1a")
+        .def(py::init<int>())
+        .def("foo", &Base1a::foo);
+
+    struct Base2a {
+        Base2a(int i) : i(i) { }
+        int bar() { return i; }
+        int i;
+    };
+    py::class_<Base2a, std::shared_ptr<Base2a>>(m, "Base2a")
+        .def(py::init<int>())
+        .def("bar", &Base2a::bar);
+
+    struct Base12a : Base1a, Base2a {
+        Base12a(int i, int j) : Base1a(i), Base2a(j) { }
+    };
+    py::class_<Base12a, /* Base1 missing */ Base2a,
+               std::shared_ptr<Base12a>>(m, "Base12a", py::multiple_inheritance())
+        .def(py::init<int, int>());
+
+    m.def("bar_base2a", [](Base2a *b) { return b->bar(); });
+    m.def("bar_base2a_sharedptr", [](std::shared_ptr<Base2a> b) { return b->bar(); });
+
+    // test_mi_unaligned_base
+    // test_mi_base_return
+    // Issue #801: invalid casting to derived type with MI bases
+    struct I801B1 { int a = 1; I801B1() = default; I801B1(const I801B1 &) = default; virtual ~I801B1() = default; };
+    struct I801B2 { int b = 2; I801B2() = default; I801B2(const I801B2 &) = default; virtual ~I801B2() = default; };
+    struct I801C : I801B1, I801B2 {};
+    struct I801D : I801C {}; // Indirect MI
+    // Unregistered classes:
+    struct I801B3 { int c = 3; virtual ~I801B3() = default; };
+    struct I801E : I801B3, I801D {};
+
+    py::class_<I801B1, std::shared_ptr<I801B1>>(m, "I801B1").def(py::init<>()).def_readonly("a", &I801B1::a);
+    py::class_<I801B2, std::shared_ptr<I801B2>>(m, "I801B2").def(py::init<>()).def_readonly("b", &I801B2::b);
+    py::class_<I801C, I801B1, I801B2, std::shared_ptr<I801C>>(m, "I801C").def(py::init<>());
+    py::class_<I801D, I801C, std::shared_ptr<I801D>>(m, "I801D").def(py::init<>());
+
+    // Two separate issues here: first, we want to recognize a pointer to a base type as being a
+    // known instance even when the pointer value is unequal (i.e. due to a non-first
+    // multiple-inheritance base class):
+    m.def("i801b1_c", [](I801C *c) { return static_cast<I801B1 *>(c); });
+    m.def("i801b2_c", [](I801C *c) { return static_cast<I801B2 *>(c); });
+    m.def("i801b1_d", [](I801D *d) { return static_cast<I801B1 *>(d); });
+    m.def("i801b2_d", [](I801D *d) { return static_cast<I801B2 *>(d); });
+
+    // Second, when returned a base class pointer to a derived instance, we cannot assume that the
+    // pointer is `reinterpret_cast`able to the derived pointer because, like above, the base class
+    // pointer could be offset.
+    m.def("i801c_b1", []() -> I801B1 * { return new I801C(); });
+    m.def("i801c_b2", []() -> I801B2 * { return new I801C(); });
+    m.def("i801d_b1", []() -> I801B1 * { return new I801D(); });
+    m.def("i801d_b2", []() -> I801B2 * { return new I801D(); });
+
+    // Return a base class pointer to a pybind-registered type when the actual derived type
+    // isn't pybind-registered (and uses multiple-inheritance to offset the pybind base)
+    m.def("i801e_c", []() -> I801C * { return new I801E(); });
+    m.def("i801e_b2", []() -> I801B2 * { return new I801E(); });
+
+
+    // test_mi_static_properties
+    py::class_<Vanilla>(m, "Vanilla")
+        .def(py::init<>())
+        .def("vanilla", &Vanilla::vanilla);
+
+    py::class_<WithStatic1>(m, "WithStatic1")
+        .def(py::init<>())
+        .def_static("static_func1", &WithStatic1::static_func1)
+        .def_readwrite_static("static_value1", &WithStatic1::static_value1);
+
+    py::class_<WithStatic2>(m, "WithStatic2")
+        .def(py::init<>())
+        .def_static("static_func2", &WithStatic2::static_func2)
+        .def_readwrite_static("static_value2", &WithStatic2::static_value2);
+
+    py::class_<VanillaStaticMix1, Vanilla, WithStatic1, WithStatic2>(
+        m, "VanillaStaticMix1")
+        .def(py::init<>())
+        .def_static("static_func", &VanillaStaticMix1::static_func)
+        .def_readwrite_static("static_value", &VanillaStaticMix1::static_value);
+
+    py::class_<VanillaStaticMix2, WithStatic1, Vanilla, WithStatic2>(
+        m, "VanillaStaticMix2")
+        .def(py::init<>())
+        .def_static("static_func", &VanillaStaticMix2::static_func)
+        .def_readwrite_static("static_value", &VanillaStaticMix2::static_value);
+
+
+    struct WithDict { };
+    struct VanillaDictMix1 : Vanilla, WithDict { };
+    struct VanillaDictMix2 : WithDict, Vanilla { };
+    py::class_<WithDict>(m, "WithDict", py::dynamic_attr()).def(py::init<>());
+    py::class_<VanillaDictMix1, Vanilla, WithDict>(m, "VanillaDictMix1").def(py::init<>());
+    py::class_<VanillaDictMix2, WithDict, Vanilla>(m, "VanillaDictMix2").def(py::init<>());
+
+    // test_diamond_inheritance
+    // Issue #959: segfault when constructing diamond inheritance instance
+    // All of these have int members so that there will be various unequal pointers involved.
+    struct B { int b; B() = default; B(const B&) = default; virtual ~B() = default; };
+    struct C0 : public virtual B { int c0; };
+    struct C1 : public virtual B { int c1; };
+    struct D : public C0, public C1 { int d; };
+    py::class_<B>(m, "B")
+        .def("b", [](B *self) { return self; });
+    py::class_<C0, B>(m, "C0")
+        .def("c0", [](C0 *self) { return self; });
+    py::class_<C1, B>(m, "C1")
+        .def("c1", [](C1 *self) { return self; });
+    py::class_<D, C0, C1>(m, "D")
+        .def(py::init<>());
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_multiple_inheritance.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_multiple_inheritance.py
new file mode 100644
index 0000000..7a0259d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_multiple_inheritance.py
@@ -0,0 +1,356 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import ConstructorStats
+from pybind11_tests import multiple_inheritance as m
+
+
+def test_multiple_inheritance_cpp():
+    mt = m.MIType(3, 4)
+
+    assert mt.foo() == 3
+    assert mt.bar() == 4
+
+
+@pytest.mark.skipif("env.PYPY and env.PY2")
+@pytest.mark.xfail("env.PYPY and not env.PY2")
+def test_multiple_inheritance_mix1():
+    class Base1:
+        def __init__(self, i):
+            self.i = i
+
+        def foo(self):
+            return self.i
+
+    class MITypePy(Base1, m.Base2):
+        def __init__(self, i, j):
+            Base1.__init__(self, i)
+            m.Base2.__init__(self, j)
+
+    mt = MITypePy(3, 4)
+
+    assert mt.foo() == 3
+    assert mt.bar() == 4
+
+
+def test_multiple_inheritance_mix2():
+    class Base2:
+        def __init__(self, i):
+            self.i = i
+
+        def bar(self):
+            return self.i
+
+    class MITypePy(m.Base1, Base2):
+        def __init__(self, i, j):
+            m.Base1.__init__(self, i)
+            Base2.__init__(self, j)
+
+    mt = MITypePy(3, 4)
+
+    assert mt.foo() == 3
+    assert mt.bar() == 4
+
+
+@pytest.mark.skipif("env.PYPY and env.PY2")
+@pytest.mark.xfail("env.PYPY and not env.PY2")
+def test_multiple_inheritance_python():
+
+    class MI1(m.Base1, m.Base2):
+        def __init__(self, i, j):
+            m.Base1.__init__(self, i)
+            m.Base2.__init__(self, j)
+
+    class B1(object):
+        def v(self):
+            return 1
+
+    class MI2(B1, m.Base1, m.Base2):
+        def __init__(self, i, j):
+            B1.__init__(self)
+            m.Base1.__init__(self, i)
+            m.Base2.__init__(self, j)
+
+    class MI3(MI2):
+        def __init__(self, i, j):
+            MI2.__init__(self, i, j)
+
+    class MI4(MI3, m.Base2):
+        def __init__(self, i, j):
+            MI3.__init__(self, i, j)
+            # This should be ignored (Base2 is already initialized via MI2):
+            m.Base2.__init__(self, i + 100)
+
+    class MI5(m.Base2, B1, m.Base1):
+        def __init__(self, i, j):
+            B1.__init__(self)
+            m.Base1.__init__(self, i)
+            m.Base2.__init__(self, j)
+
+    class MI6(m.Base2, B1):
+        def __init__(self, i):
+            m.Base2.__init__(self, i)
+            B1.__init__(self)
+
+    class B2(B1):
+        def v(self):
+            return 2
+
+    class B3(object):
+        def v(self):
+            return 3
+
+    class B4(B3, B2):
+        def v(self):
+            return 4
+
+    class MI7(B4, MI6):
+        def __init__(self, i):
+            B4.__init__(self)
+            MI6.__init__(self, i)
+
+    class MI8(MI6, B3):
+        def __init__(self, i):
+            MI6.__init__(self, i)
+            B3.__init__(self)
+
+    class MI8b(B3, MI6):
+        def __init__(self, i):
+            B3.__init__(self)
+            MI6.__init__(self, i)
+
+    mi1 = MI1(1, 2)
+    assert mi1.foo() == 1
+    assert mi1.bar() == 2
+
+    mi2 = MI2(3, 4)
+    assert mi2.v() == 1
+    assert mi2.foo() == 3
+    assert mi2.bar() == 4
+
+    mi3 = MI3(5, 6)
+    assert mi3.v() == 1
+    assert mi3.foo() == 5
+    assert mi3.bar() == 6
+
+    mi4 = MI4(7, 8)
+    assert mi4.v() == 1
+    assert mi4.foo() == 7
+    assert mi4.bar() == 8
+
+    mi5 = MI5(10, 11)
+    assert mi5.v() == 1
+    assert mi5.foo() == 10
+    assert mi5.bar() == 11
+
+    mi6 = MI6(12)
+    assert mi6.v() == 1
+    assert mi6.bar() == 12
+
+    mi7 = MI7(13)
+    assert mi7.v() == 4
+    assert mi7.bar() == 13
+
+    mi8 = MI8(14)
+    assert mi8.v() == 1
+    assert mi8.bar() == 14
+
+    mi8b = MI8b(15)
+    assert mi8b.v() == 3
+    assert mi8b.bar() == 15
+
+
+def test_multiple_inheritance_python_many_bases():
+
+    class MIMany14(m.BaseN1, m.BaseN2, m.BaseN3, m.BaseN4):
+        def __init__(self):
+            m.BaseN1.__init__(self, 1)
+            m.BaseN2.__init__(self, 2)
+            m.BaseN3.__init__(self, 3)
+            m.BaseN4.__init__(self, 4)
+
+    class MIMany58(m.BaseN5, m.BaseN6, m.BaseN7, m.BaseN8):
+        def __init__(self):
+            m.BaseN5.__init__(self, 5)
+            m.BaseN6.__init__(self, 6)
+            m.BaseN7.__init__(self, 7)
+            m.BaseN8.__init__(self, 8)
+
+    class MIMany916(m.BaseN9, m.BaseN10, m.BaseN11, m.BaseN12, m.BaseN13, m.BaseN14, m.BaseN15,
+                    m.BaseN16):
+        def __init__(self):
+            m.BaseN9.__init__(self, 9)
+            m.BaseN10.__init__(self, 10)
+            m.BaseN11.__init__(self, 11)
+            m.BaseN12.__init__(self, 12)
+            m.BaseN13.__init__(self, 13)
+            m.BaseN14.__init__(self, 14)
+            m.BaseN15.__init__(self, 15)
+            m.BaseN16.__init__(self, 16)
+
+    class MIMany19(MIMany14, MIMany58, m.BaseN9):
+        def __init__(self):
+            MIMany14.__init__(self)
+            MIMany58.__init__(self)
+            m.BaseN9.__init__(self, 9)
+
+    class MIMany117(MIMany14, MIMany58, MIMany916, m.BaseN17):
+        def __init__(self):
+            MIMany14.__init__(self)
+            MIMany58.__init__(self)
+            MIMany916.__init__(self)
+            m.BaseN17.__init__(self, 17)
+
+    # Inherits from 4 registered C++ classes: can fit in one pointer on any modern arch:
+    a = MIMany14()
+    for i in range(1, 4):
+        assert getattr(a, "f" + str(i))() == 2 * i
+
+    # Inherits from 8: requires 1/2 pointers worth of holder flags on 32/64-bit arch:
+    b = MIMany916()
+    for i in range(9, 16):
+        assert getattr(b, "f" + str(i))() == 2 * i
+
+    # Inherits from 9: requires >= 2 pointers worth of holder flags
+    c = MIMany19()
+    for i in range(1, 9):
+        assert getattr(c, "f" + str(i))() == 2 * i
+
+    # Inherits from 17: requires >= 3 pointers worth of holder flags
+    d = MIMany117()
+    for i in range(1, 17):
+        assert getattr(d, "f" + str(i))() == 2 * i
+
+
+def test_multiple_inheritance_virtbase():
+
+    class MITypePy(m.Base12a):
+        def __init__(self, i, j):
+            m.Base12a.__init__(self, i, j)
+
+    mt = MITypePy(3, 4)
+    assert mt.bar() == 4
+    assert m.bar_base2a(mt) == 4
+    assert m.bar_base2a_sharedptr(mt) == 4
+
+
+def test_mi_static_properties():
+    """Mixing bases with and without static properties should be possible
+     and the result should be independent of base definition order"""
+
+    for d in (m.VanillaStaticMix1(), m.VanillaStaticMix2()):
+        assert d.vanilla() == "Vanilla"
+        assert d.static_func1() == "WithStatic1"
+        assert d.static_func2() == "WithStatic2"
+        assert d.static_func() == d.__class__.__name__
+
+        m.WithStatic1.static_value1 = 1
+        m.WithStatic2.static_value2 = 2
+        assert d.static_value1 == 1
+        assert d.static_value2 == 2
+        assert d.static_value == 12
+
+        d.static_value1 = 0
+        assert d.static_value1 == 0
+        d.static_value2 = 0
+        assert d.static_value2 == 0
+        d.static_value = 0
+        assert d.static_value == 0
+
+
+# Requires PyPy 6+
+def test_mi_dynamic_attributes():
+    """Mixing bases with and without dynamic attribute support"""
+
+    for d in (m.VanillaDictMix1(), m.VanillaDictMix2()):
+        d.dynamic = 1
+        assert d.dynamic == 1
+
+
+def test_mi_unaligned_base():
+    """Returning an offset (non-first MI) base class pointer should recognize the instance"""
+
+    n_inst = ConstructorStats.detail_reg_inst()
+
+    c = m.I801C()
+    d = m.I801D()
+    # + 4 below because we have the two instances, and each instance has offset base I801B2
+    assert ConstructorStats.detail_reg_inst() == n_inst + 4
+    b1c = m.i801b1_c(c)
+    assert b1c is c
+    b2c = m.i801b2_c(c)
+    assert b2c is c
+    b1d = m.i801b1_d(d)
+    assert b1d is d
+    b2d = m.i801b2_d(d)
+    assert b2d is d
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 4  # no extra instances
+    del c, b1c, b2c
+    assert ConstructorStats.detail_reg_inst() == n_inst + 2
+    del d, b1d, b2d
+    assert ConstructorStats.detail_reg_inst() == n_inst
+
+
+def test_mi_base_return():
+    """Tests returning an offset (non-first MI) base class pointer to a derived instance"""
+
+    n_inst = ConstructorStats.detail_reg_inst()
+
+    c1 = m.i801c_b1()
+    assert type(c1) is m.I801C
+    assert c1.a == 1
+    assert c1.b == 2
+
+    d1 = m.i801d_b1()
+    assert type(d1) is m.I801D
+    assert d1.a == 1
+    assert d1.b == 2
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 4
+
+    c2 = m.i801c_b2()
+    assert type(c2) is m.I801C
+    assert c2.a == 1
+    assert c2.b == 2
+
+    d2 = m.i801d_b2()
+    assert type(d2) is m.I801D
+    assert d2.a == 1
+    assert d2.b == 2
+
+    assert ConstructorStats.detail_reg_inst() == n_inst + 8
+
+    del c2
+    assert ConstructorStats.detail_reg_inst() == n_inst + 6
+    del c1, d1, d2
+    assert ConstructorStats.detail_reg_inst() == n_inst
+
+    # Returning an unregistered derived type with a registered base; we won't
+    # pick up the derived type, obviously, but should still work (as an object
+    # of whatever type was returned).
+    e1 = m.i801e_c()
+    assert type(e1) is m.I801C
+    assert e1.a == 1
+    assert e1.b == 2
+
+    e2 = m.i801e_b2()
+    assert type(e2) is m.I801B2
+    assert e2.b == 2
+
+
+def test_diamond_inheritance():
+    """Tests that diamond inheritance works as expected (issue #959)"""
+
+    # Issue #959: this shouldn't segfault:
+    d = m.D()
+
+    # Make sure all the various distinct pointers are all recognized as registered instances:
+    assert d is d.c0()
+    assert d is d.c1()
+    assert d is d.b()
+    assert d is d.c0().b()
+    assert d is d.c1().b()
+    assert d is d.c0().c1().b().c0().b()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.cpp
new file mode 100644
index 0000000..753fa9f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.cpp
@@ -0,0 +1,438 @@
+/*
+    tests/test_numpy_array.cpp -- test core array functionality
+
+    Copyright (c) 2016 Ivan Smirnov <i.s.smirnov@gmail.com>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+#include <pybind11/numpy.h>
+#include <pybind11/stl.h>
+
+#include <cstdint>
+
+// Size / dtype checks.
+struct DtypeCheck {
+    py::dtype numpy{};
+    py::dtype pybind11{};
+};
+
+template <typename T>
+DtypeCheck get_dtype_check(const char* name) {
+    py::module_ np = py::module_::import("numpy");
+    DtypeCheck check{};
+    check.numpy = np.attr("dtype")(np.attr(name));
+    check.pybind11 = py::dtype::of<T>();
+    return check;
+}
+
+std::vector<DtypeCheck> get_concrete_dtype_checks() {
+    return {
+        // Normalization
+        get_dtype_check<std::int8_t>("int8"),
+        get_dtype_check<std::uint8_t>("uint8"),
+        get_dtype_check<std::int16_t>("int16"),
+        get_dtype_check<std::uint16_t>("uint16"),
+        get_dtype_check<std::int32_t>("int32"),
+        get_dtype_check<std::uint32_t>("uint32"),
+        get_dtype_check<std::int64_t>("int64"),
+        get_dtype_check<std::uint64_t>("uint64")
+    };
+}
+
+struct DtypeSizeCheck {
+    std::string name{};
+    int size_cpp{};
+    int size_numpy{};
+    // For debugging.
+    py::dtype dtype{};
+};
+
+template <typename T>
+DtypeSizeCheck get_dtype_size_check() {
+    DtypeSizeCheck check{};
+    check.name = py::type_id<T>();
+    check.size_cpp = sizeof(T);
+    check.dtype = py::dtype::of<T>();
+    check.size_numpy = check.dtype.attr("itemsize").template cast<int>();
+    return check;
+}
+
+std::vector<DtypeSizeCheck> get_platform_dtype_size_checks() {
+    return {
+        get_dtype_size_check<short>(),
+        get_dtype_size_check<unsigned short>(),
+        get_dtype_size_check<int>(),
+        get_dtype_size_check<unsigned int>(),
+        get_dtype_size_check<long>(),
+        get_dtype_size_check<unsigned long>(),
+        get_dtype_size_check<long long>(),
+        get_dtype_size_check<unsigned long long>(),
+    };
+}
+
+// Arrays.
+using arr = py::array;
+using arr_t = py::array_t<uint16_t, 0>;
+static_assert(std::is_same<arr_t::value_type, uint16_t>::value, "");
+
+template<typename... Ix> arr data(const arr& a, Ix... index) {
+    return arr(a.nbytes() - a.offset_at(index...), (const uint8_t *) a.data(index...));
+}
+
+template<typename... Ix> arr data_t(const arr_t& a, Ix... index) {
+    return arr(a.size() - a.index_at(index...), a.data(index...));
+}
+
+template<typename... Ix> arr& mutate_data(arr& a, Ix... index) {
+    auto ptr = (uint8_t *) a.mutable_data(index...);
+    for (ssize_t i = 0; i < a.nbytes() - a.offset_at(index...); i++)
+        ptr[i] = (uint8_t) (ptr[i] * 2);
+    return a;
+}
+
+template<typename... Ix> arr_t& mutate_data_t(arr_t& a, Ix... index) {
+    auto ptr = a.mutable_data(index...);
+    for (ssize_t i = 0; i < a.size() - a.index_at(index...); i++)
+        ptr[i]++;
+    return a;
+}
+
+template<typename... Ix> ssize_t index_at(const arr& a, Ix... idx) { return a.index_at(idx...); }
+template<typename... Ix> ssize_t index_at_t(const arr_t& a, Ix... idx) { return a.index_at(idx...); }
+template<typename... Ix> ssize_t offset_at(const arr& a, Ix... idx) { return a.offset_at(idx...); }
+template<typename... Ix> ssize_t offset_at_t(const arr_t& a, Ix... idx) { return a.offset_at(idx...); }
+template<typename... Ix> ssize_t at_t(const arr_t& a, Ix... idx) { return a.at(idx...); }
+template<typename... Ix> arr_t& mutate_at_t(arr_t& a, Ix... idx) { a.mutable_at(idx...)++; return a; }
+
+#define def_index_fn(name, type) \
+    sm.def(#name, [](type a) { return name(a); }); \
+    sm.def(#name, [](type a, int i) { return name(a, i); }); \
+    sm.def(#name, [](type a, int i, int j) { return name(a, i, j); }); \
+    sm.def(#name, [](type a, int i, int j, int k) { return name(a, i, j, k); });
+
+template <typename T, typename T2> py::handle auxiliaries(T &&r, T2 &&r2) {
+    if (r.ndim() != 2) throw std::domain_error("error: ndim != 2");
+    py::list l;
+    l.append(*r.data(0, 0));
+    l.append(*r2.mutable_data(0, 0));
+    l.append(r.data(0, 1) == r2.mutable_data(0, 1));
+    l.append(r.ndim());
+    l.append(r.itemsize());
+    l.append(r.shape(0));
+    l.append(r.shape(1));
+    l.append(r.size());
+    l.append(r.nbytes());
+    return l.release();
+}
+
+// note: declaration at local scope would create a dangling reference!
+static int data_i = 42;
+
+TEST_SUBMODULE(numpy_array, sm) {
+    try { py::module_::import("numpy"); }
+    catch (...) { return; }
+
+    // test_dtypes
+    py::class_<DtypeCheck>(sm, "DtypeCheck")
+        .def_readonly("numpy", &DtypeCheck::numpy)
+        .def_readonly("pybind11", &DtypeCheck::pybind11)
+        .def("__repr__", [](const DtypeCheck& self) {
+            return py::str("<DtypeCheck numpy={} pybind11={}>").format(
+                self.numpy, self.pybind11);
+        });
+    sm.def("get_concrete_dtype_checks", &get_concrete_dtype_checks);
+
+    py::class_<DtypeSizeCheck>(sm, "DtypeSizeCheck")
+        .def_readonly("name", &DtypeSizeCheck::name)
+        .def_readonly("size_cpp", &DtypeSizeCheck::size_cpp)
+        .def_readonly("size_numpy", &DtypeSizeCheck::size_numpy)
+        .def("__repr__", [](const DtypeSizeCheck& self) {
+            return py::str("<DtypeSizeCheck name='{}' size_cpp={} size_numpy={} dtype={}>").format(
+                self.name, self.size_cpp, self.size_numpy, self.dtype);
+        });
+    sm.def("get_platform_dtype_size_checks", &get_platform_dtype_size_checks);
+
+    // test_array_attributes
+    sm.def("ndim", [](const arr& a) { return a.ndim(); });
+    sm.def("shape", [](const arr& a) { return arr(a.ndim(), a.shape()); });
+    sm.def("shape", [](const arr& a, ssize_t dim) { return a.shape(dim); });
+    sm.def("strides", [](const arr& a) { return arr(a.ndim(), a.strides()); });
+    sm.def("strides", [](const arr& a, ssize_t dim) { return a.strides(dim); });
+    sm.def("writeable", [](const arr& a) { return a.writeable(); });
+    sm.def("size", [](const arr& a) { return a.size(); });
+    sm.def("itemsize", [](const arr& a) { return a.itemsize(); });
+    sm.def("nbytes", [](const arr& a) { return a.nbytes(); });
+    sm.def("owndata", [](const arr& a) { return a.owndata(); });
+
+    // test_index_offset
+    def_index_fn(index_at, const arr&);
+    def_index_fn(index_at_t, const arr_t&);
+    def_index_fn(offset_at, const arr&);
+    def_index_fn(offset_at_t, const arr_t&);
+    // test_data
+    def_index_fn(data, const arr&);
+    def_index_fn(data_t, const arr_t&);
+    // test_mutate_data, test_mutate_readonly
+    def_index_fn(mutate_data, arr&);
+    def_index_fn(mutate_data_t, arr_t&);
+    def_index_fn(at_t, const arr_t&);
+    def_index_fn(mutate_at_t, arr_t&);
+
+    // test_make_c_f_array
+    sm.def("make_f_array", [] { return py::array_t<float>({ 2, 2 }, { 4, 8 }); });
+    sm.def("make_c_array", [] { return py::array_t<float>({ 2, 2 }, { 8, 4 }); });
+
+    // test_empty_shaped_array
+    sm.def("make_empty_shaped_array", [] { return py::array(py::dtype("f"), {}, {}); });
+    // test numpy scalars (empty shape, ndim==0)
+    sm.def("scalar_int", []() { return py::array(py::dtype("i"), {}, {}, &data_i); });
+
+    // test_wrap
+    sm.def("wrap", [](py::array a) {
+        return py::array(
+            a.dtype(),
+            {a.shape(), a.shape() + a.ndim()},
+            {a.strides(), a.strides() + a.ndim()},
+            a.data(),
+            a
+        );
+    });
+
+    // test_numpy_view
+    struct ArrayClass {
+        int data[2] = { 1, 2 };
+        ArrayClass() { py::print("ArrayClass()"); }
+        ~ArrayClass() { py::print("~ArrayClass()"); }
+    };
+    py::class_<ArrayClass>(sm, "ArrayClass")
+        .def(py::init<>())
+        .def("numpy_view", [](py::object &obj) {
+            py::print("ArrayClass::numpy_view()");
+            auto &a = obj.cast<ArrayClass&>();
+            return py::array_t<int>({2}, {4}, a.data, obj);
+        }
+    );
+
+    // test_cast_numpy_int64_to_uint64
+    sm.def("function_taking_uint64", [](uint64_t) { });
+
+    // test_isinstance
+    sm.def("isinstance_untyped", [](py::object yes, py::object no) {
+        return py::isinstance<py::array>(yes) && !py::isinstance<py::array>(no);
+    });
+    sm.def("isinstance_typed", [](py::object o) {
+        return py::isinstance<py::array_t<double>>(o) && !py::isinstance<py::array_t<int>>(o);
+    });
+
+    // test_constructors
+    sm.def("default_constructors", []() {
+        return py::dict(
+            "array"_a=py::array(),
+            "array_t<int32>"_a=py::array_t<std::int32_t>(),
+            "array_t<double>"_a=py::array_t<double>()
+        );
+    });
+    sm.def("converting_constructors", [](py::object o) {
+        return py::dict(
+            "array"_a=py::array(o),
+            "array_t<int32>"_a=py::array_t<std::int32_t>(o),
+            "array_t<double>"_a=py::array_t<double>(o)
+        );
+    });
+
+    // test_overload_resolution
+    sm.def("overloaded", [](py::array_t<double>) { return "double"; });
+    sm.def("overloaded", [](py::array_t<float>) { return "float"; });
+    sm.def("overloaded", [](py::array_t<int>) { return "int"; });
+    sm.def("overloaded", [](py::array_t<unsigned short>) { return "unsigned short"; });
+    sm.def("overloaded", [](py::array_t<long long>) { return "long long"; });
+    sm.def("overloaded", [](py::array_t<std::complex<double>>) { return "double complex"; });
+    sm.def("overloaded", [](py::array_t<std::complex<float>>) { return "float complex"; });
+
+    sm.def("overloaded2", [](py::array_t<std::complex<double>>) { return "double complex"; });
+    sm.def("overloaded2", [](py::array_t<double>) { return "double"; });
+    sm.def("overloaded2", [](py::array_t<std::complex<float>>) { return "float complex"; });
+    sm.def("overloaded2", [](py::array_t<float>) { return "float"; });
+
+    // Only accept the exact types:
+    sm.def("overloaded3", [](py::array_t<int>) { return "int"; }, py::arg().noconvert());
+    sm.def("overloaded3", [](py::array_t<double>) { return "double"; }, py::arg().noconvert());
+
+    // Make sure we don't do unsafe coercion (e.g. float to int) when not using forcecast, but
+    // rather that float gets converted via the safe (conversion to double) overload:
+    sm.def("overloaded4", [](py::array_t<long long, 0>) { return "long long"; });
+    sm.def("overloaded4", [](py::array_t<double, 0>) { return "double"; });
+
+    // But we do allow conversion to int if forcecast is enabled (but only if no overload matches
+    // without conversion)
+    sm.def("overloaded5", [](py::array_t<unsigned int>) { return "unsigned int"; });
+    sm.def("overloaded5", [](py::array_t<double>) { return "double"; });
+
+    // test_greedy_string_overload
+    // Issue 685: ndarray shouldn't go to std::string overload
+    sm.def("issue685", [](std::string) { return "string"; });
+    sm.def("issue685", [](py::array) { return "array"; });
+    sm.def("issue685", [](py::object) { return "other"; });
+
+    // test_array_unchecked_fixed_dims
+    sm.def("proxy_add2", [](py::array_t<double> a, double v) {
+        auto r = a.mutable_unchecked<2>();
+        for (ssize_t i = 0; i < r.shape(0); i++)
+            for (ssize_t j = 0; j < r.shape(1); j++)
+                r(i, j) += v;
+    }, py::arg().noconvert(), py::arg());
+
+    sm.def("proxy_init3", [](double start) {
+        py::array_t<double, py::array::c_style> a({ 3, 3, 3 });
+        auto r = a.mutable_unchecked<3>();
+        for (ssize_t i = 0; i < r.shape(0); i++)
+        for (ssize_t j = 0; j < r.shape(1); j++)
+        for (ssize_t k = 0; k < r.shape(2); k++)
+            r(i, j, k) = start++;
+        return a;
+    });
+    sm.def("proxy_init3F", [](double start) {
+        py::array_t<double, py::array::f_style> a({ 3, 3, 3 });
+        auto r = a.mutable_unchecked<3>();
+        for (ssize_t k = 0; k < r.shape(2); k++)
+        for (ssize_t j = 0; j < r.shape(1); j++)
+        for (ssize_t i = 0; i < r.shape(0); i++)
+            r(i, j, k) = start++;
+        return a;
+    });
+    sm.def("proxy_squared_L2_norm", [](py::array_t<double> a) {
+        auto r = a.unchecked<1>();
+        double sumsq = 0;
+        for (ssize_t i = 0; i < r.shape(0); i++)
+            sumsq += r[i] * r(i); // Either notation works for a 1D array
+        return sumsq;
+    });
+
+    sm.def("proxy_auxiliaries2", [](py::array_t<double> a) {
+        auto r = a.unchecked<2>();
+        auto r2 = a.mutable_unchecked<2>();
+        return auxiliaries(r, r2);
+    });
+
+    sm.def("proxy_auxiliaries1_const_ref", [](py::array_t<double> a) {
+        const auto &r = a.unchecked<1>();
+        const auto &r2 = a.mutable_unchecked<1>();
+        return r(0) == r2(0) && r[0] == r2[0];
+    });
+
+    sm.def("proxy_auxiliaries2_const_ref", [](py::array_t<double> a) {
+        const auto &r = a.unchecked<2>();
+        const auto &r2 = a.mutable_unchecked<2>();
+        return r(0, 0) == r2(0, 0);
+    });
+
+    // test_array_unchecked_dyn_dims
+    // Same as the above, but without a compile-time dimensions specification:
+    sm.def("proxy_add2_dyn", [](py::array_t<double> a, double v) {
+        auto r = a.mutable_unchecked();
+        if (r.ndim() != 2) throw std::domain_error("error: ndim != 2");
+        for (ssize_t i = 0; i < r.shape(0); i++)
+            for (ssize_t j = 0; j < r.shape(1); j++)
+                r(i, j) += v;
+    }, py::arg().noconvert(), py::arg());
+    sm.def("proxy_init3_dyn", [](double start) {
+        py::array_t<double, py::array::c_style> a({ 3, 3, 3 });
+        auto r = a.mutable_unchecked();
+        if (r.ndim() != 3) throw std::domain_error("error: ndim != 3");
+        for (ssize_t i = 0; i < r.shape(0); i++)
+        for (ssize_t j = 0; j < r.shape(1); j++)
+        for (ssize_t k = 0; k < r.shape(2); k++)
+            r(i, j, k) = start++;
+        return a;
+    });
+    sm.def("proxy_auxiliaries2_dyn", [](py::array_t<double> a) {
+        return auxiliaries(a.unchecked(), a.mutable_unchecked());
+    });
+
+    sm.def("array_auxiliaries2", [](py::array_t<double> a) {
+        return auxiliaries(a, a);
+    });
+
+    // test_array_failures
+    // Issue #785: Uninformative "Unknown internal error" exception when constructing array from empty object:
+    sm.def("array_fail_test", []() { return py::array(py::object()); });
+    sm.def("array_t_fail_test", []() { return py::array_t<double>(py::object()); });
+    // Make sure the error from numpy is being passed through:
+    sm.def("array_fail_test_negative_size", []() { int c = 0; return py::array(-1, &c); });
+
+    // test_initializer_list
+    // Issue (unnumbered; reported in #788): regression: initializer lists can be ambiguous
+    sm.def("array_initializer_list1", []() { return py::array_t<float>(1); }); // { 1 } also works, but clang warns about it
+    sm.def("array_initializer_list2", []() { return py::array_t<float>({ 1, 2 }); });
+    sm.def("array_initializer_list3", []() { return py::array_t<float>({ 1, 2, 3 }); });
+    sm.def("array_initializer_list4", []() { return py::array_t<float>({ 1, 2, 3, 4 }); });
+
+    // test_array_resize
+    // reshape array to 2D without changing size
+    sm.def("array_reshape2", [](py::array_t<double> a) {
+        const auto dim_sz = (ssize_t)std::sqrt(a.size());
+        if (dim_sz * dim_sz != a.size())
+            throw std::domain_error("array_reshape2: input array total size is not a squared integer");
+        a.resize({dim_sz, dim_sz});
+    });
+
+    // resize to 3D array with each dimension = N
+    sm.def("array_resize3", [](py::array_t<double> a, size_t N, bool refcheck) {
+        a.resize({N, N, N}, refcheck);
+    });
+
+    // test_array_create_and_resize
+    // return 2D array with Nrows = Ncols = N
+    sm.def("create_and_resize", [](size_t N) {
+        py::array_t<double> a;
+        a.resize({N, N});
+        std::fill(a.mutable_data(), a.mutable_data() + a.size(), 42.);
+        return a;
+    });
+
+    sm.def("index_using_ellipsis", [](py::array a) {
+        return a[py::make_tuple(0, py::ellipsis(), 0)];
+    });
+
+    // test_argument_conversions
+    sm.def("accept_double",
+           [](py::array_t<double, 0>) {},
+           py::arg("a"));
+    sm.def("accept_double_forcecast",
+           [](py::array_t<double, py::array::forcecast>) {},
+           py::arg("a"));
+    sm.def("accept_double_c_style",
+           [](py::array_t<double, py::array::c_style>) {},
+           py::arg("a"));
+    sm.def("accept_double_c_style_forcecast",
+           [](py::array_t<double, py::array::forcecast | py::array::c_style>) {},
+           py::arg("a"));
+    sm.def("accept_double_f_style",
+           [](py::array_t<double, py::array::f_style>) {},
+           py::arg("a"));
+    sm.def("accept_double_f_style_forcecast",
+           [](py::array_t<double, py::array::forcecast | py::array::f_style>) {},
+           py::arg("a"));
+    sm.def("accept_double_noconvert",
+           [](py::array_t<double, 0>) {},
+           py::arg("a").noconvert());
+    sm.def("accept_double_forcecast_noconvert",
+           [](py::array_t<double, py::array::forcecast>) {},
+           py::arg("a").noconvert());
+    sm.def("accept_double_c_style_noconvert",
+           [](py::array_t<double, py::array::c_style>) {},
+           py::arg("a").noconvert());
+    sm.def("accept_double_c_style_forcecast_noconvert",
+           [](py::array_t<double, py::array::forcecast | py::array::c_style>) {},
+           py::arg("a").noconvert());
+    sm.def("accept_double_f_style_noconvert",
+           [](py::array_t<double, py::array::f_style>) {},
+           py::arg("a").noconvert());
+    sm.def("accept_double_f_style_forcecast_noconvert",
+           [](py::array_t<double, py::array::forcecast | py::array::f_style>) {},
+           py::arg("a").noconvert());
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.py
new file mode 100644
index 0000000..e3e7c5f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_array.py
@@ -0,0 +1,495 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import numpy_array as m
+
+np = pytest.importorskip("numpy")
+
+
+def test_dtypes():
+    # See issue #1328.
+    # - Platform-dependent sizes.
+    for size_check in m.get_platform_dtype_size_checks():
+        print(size_check)
+        assert size_check.size_cpp == size_check.size_numpy, size_check
+    # - Concrete sizes.
+    for check in m.get_concrete_dtype_checks():
+        print(check)
+        assert check.numpy == check.pybind11, check
+        if check.numpy.num != check.pybind11.num:
+            print("NOTE: typenum mismatch for {}: {} != {}".format(
+                check, check.numpy.num, check.pybind11.num))
+
+
+@pytest.fixture(scope='function')
+def arr():
+    return np.array([[1, 2, 3], [4, 5, 6]], '=u2')
+
+
+def test_array_attributes():
+    a = np.array(0, 'f8')
+    assert m.ndim(a) == 0
+    assert all(m.shape(a) == [])
+    assert all(m.strides(a) == [])
+    with pytest.raises(IndexError) as excinfo:
+        m.shape(a, 0)
+    assert str(excinfo.value) == 'invalid axis: 0 (ndim = 0)'
+    with pytest.raises(IndexError) as excinfo:
+        m.strides(a, 0)
+    assert str(excinfo.value) == 'invalid axis: 0 (ndim = 0)'
+    assert m.writeable(a)
+    assert m.size(a) == 1
+    assert m.itemsize(a) == 8
+    assert m.nbytes(a) == 8
+    assert m.owndata(a)
+
+    a = np.array([[1, 2, 3], [4, 5, 6]], 'u2').view()
+    a.flags.writeable = False
+    assert m.ndim(a) == 2
+    assert all(m.shape(a) == [2, 3])
+    assert m.shape(a, 0) == 2
+    assert m.shape(a, 1) == 3
+    assert all(m.strides(a) == [6, 2])
+    assert m.strides(a, 0) == 6
+    assert m.strides(a, 1) == 2
+    with pytest.raises(IndexError) as excinfo:
+        m.shape(a, 2)
+    assert str(excinfo.value) == 'invalid axis: 2 (ndim = 2)'
+    with pytest.raises(IndexError) as excinfo:
+        m.strides(a, 2)
+    assert str(excinfo.value) == 'invalid axis: 2 (ndim = 2)'
+    assert not m.writeable(a)
+    assert m.size(a) == 6
+    assert m.itemsize(a) == 2
+    assert m.nbytes(a) == 12
+    assert not m.owndata(a)
+
+
+@pytest.mark.parametrize('args, ret', [([], 0), ([0], 0), ([1], 3), ([0, 1], 1), ([1, 2], 5)])
+def test_index_offset(arr, args, ret):
+    assert m.index_at(arr, *args) == ret
+    assert m.index_at_t(arr, *args) == ret
+    assert m.offset_at(arr, *args) == ret * arr.dtype.itemsize
+    assert m.offset_at_t(arr, *args) == ret * arr.dtype.itemsize
+
+
+def test_dim_check_fail(arr):
+    for func in (m.index_at, m.index_at_t, m.offset_at, m.offset_at_t, m.data, m.data_t,
+                 m.mutate_data, m.mutate_data_t):
+        with pytest.raises(IndexError) as excinfo:
+            func(arr, 1, 2, 3)
+        assert str(excinfo.value) == 'too many indices for an array: 3 (ndim = 2)'
+
+
+@pytest.mark.parametrize('args, ret',
+                         [([], [1, 2, 3, 4, 5, 6]),
+                          ([1], [4, 5, 6]),
+                          ([0, 1], [2, 3, 4, 5, 6]),
+                          ([1, 2], [6])])
+def test_data(arr, args, ret):
+    from sys import byteorder
+    assert all(m.data_t(arr, *args) == ret)
+    assert all(m.data(arr, *args)[(0 if byteorder == 'little' else 1)::2] == ret)
+    assert all(m.data(arr, *args)[(1 if byteorder == 'little' else 0)::2] == 0)
+
+
+@pytest.mark.parametrize('dim', [0, 1, 3])
+def test_at_fail(arr, dim):
+    for func in m.at_t, m.mutate_at_t:
+        with pytest.raises(IndexError) as excinfo:
+            func(arr, *([0] * dim))
+        assert str(excinfo.value) == 'index dimension mismatch: {} (ndim = 2)'.format(dim)
+
+
+def test_at(arr):
+    assert m.at_t(arr, 0, 2) == 3
+    assert m.at_t(arr, 1, 0) == 4
+
+    assert all(m.mutate_at_t(arr, 0, 2).ravel() == [1, 2, 4, 4, 5, 6])
+    assert all(m.mutate_at_t(arr, 1, 0).ravel() == [1, 2, 4, 5, 5, 6])
+
+
+def test_mutate_readonly(arr):
+    arr.flags.writeable = False
+    for func, args in (m.mutate_data, ()), (m.mutate_data_t, ()), (m.mutate_at_t, (0, 0)):
+        with pytest.raises(ValueError) as excinfo:
+            func(arr, *args)
+        assert str(excinfo.value) == 'array is not writeable'
+
+
+def test_mutate_data(arr):
+    assert all(m.mutate_data(arr).ravel() == [2, 4, 6, 8, 10, 12])
+    assert all(m.mutate_data(arr).ravel() == [4, 8, 12, 16, 20, 24])
+    assert all(m.mutate_data(arr, 1).ravel() == [4, 8, 12, 32, 40, 48])
+    assert all(m.mutate_data(arr, 0, 1).ravel() == [4, 16, 24, 64, 80, 96])
+    assert all(m.mutate_data(arr, 1, 2).ravel() == [4, 16, 24, 64, 80, 192])
+
+    assert all(m.mutate_data_t(arr).ravel() == [5, 17, 25, 65, 81, 193])
+    assert all(m.mutate_data_t(arr).ravel() == [6, 18, 26, 66, 82, 194])
+    assert all(m.mutate_data_t(arr, 1).ravel() == [6, 18, 26, 67, 83, 195])
+    assert all(m.mutate_data_t(arr, 0, 1).ravel() == [6, 19, 27, 68, 84, 196])
+    assert all(m.mutate_data_t(arr, 1, 2).ravel() == [6, 19, 27, 68, 84, 197])
+
+
+def test_bounds_check(arr):
+    for func in (m.index_at, m.index_at_t, m.data, m.data_t,
+                 m.mutate_data, m.mutate_data_t, m.at_t, m.mutate_at_t):
+        with pytest.raises(IndexError) as excinfo:
+            func(arr, 2, 0)
+        assert str(excinfo.value) == 'index 2 is out of bounds for axis 0 with size 2'
+        with pytest.raises(IndexError) as excinfo:
+            func(arr, 0, 4)
+        assert str(excinfo.value) == 'index 4 is out of bounds for axis 1 with size 3'
+
+
+def test_make_c_f_array():
+    assert m.make_c_array().flags.c_contiguous
+    assert not m.make_c_array().flags.f_contiguous
+    assert m.make_f_array().flags.f_contiguous
+    assert not m.make_f_array().flags.c_contiguous
+
+
+def test_make_empty_shaped_array():
+    m.make_empty_shaped_array()
+
+    # empty shape means numpy scalar, PEP 3118
+    assert m.scalar_int().ndim == 0
+    assert m.scalar_int().shape == ()
+    assert m.scalar_int() == 42
+
+
+def test_wrap():
+    def assert_references(a, b, base=None):
+        from distutils.version import LooseVersion
+        if base is None:
+            base = a
+        assert a is not b
+        assert a.__array_interface__['data'][0] == b.__array_interface__['data'][0]
+        assert a.shape == b.shape
+        assert a.strides == b.strides
+        assert a.flags.c_contiguous == b.flags.c_contiguous
+        assert a.flags.f_contiguous == b.flags.f_contiguous
+        assert a.flags.writeable == b.flags.writeable
+        assert a.flags.aligned == b.flags.aligned
+        if LooseVersion(np.__version__) >= LooseVersion("1.14.0"):
+            assert a.flags.writebackifcopy == b.flags.writebackifcopy
+        else:
+            assert a.flags.updateifcopy == b.flags.updateifcopy
+        assert np.all(a == b)
+        assert not b.flags.owndata
+        assert b.base is base
+        if a.flags.writeable and a.ndim == 2:
+            a[0, 0] = 1234
+            assert b[0, 0] == 1234
+
+    a1 = np.array([1, 2], dtype=np.int16)
+    assert a1.flags.owndata and a1.base is None
+    a2 = m.wrap(a1)
+    assert_references(a1, a2)
+
+    a1 = np.array([[1, 2], [3, 4]], dtype=np.float32, order='F')
+    assert a1.flags.owndata and a1.base is None
+    a2 = m.wrap(a1)
+    assert_references(a1, a2)
+
+    a1 = np.array([[1, 2], [3, 4]], dtype=np.float32, order='C')
+    a1.flags.writeable = False
+    a2 = m.wrap(a1)
+    assert_references(a1, a2)
+
+    a1 = np.random.random((4, 4, 4))
+    a2 = m.wrap(a1)
+    assert_references(a1, a2)
+
+    a1t = a1.transpose()
+    a2 = m.wrap(a1t)
+    assert_references(a1t, a2, a1)
+
+    a1d = a1.diagonal()
+    a2 = m.wrap(a1d)
+    assert_references(a1d, a2, a1)
+
+    a1m = a1[::-1, ::-1, ::-1]
+    a2 = m.wrap(a1m)
+    assert_references(a1m, a2, a1)
+
+
+def test_numpy_view(capture):
+    with capture:
+        ac = m.ArrayClass()
+        ac_view_1 = ac.numpy_view()
+        ac_view_2 = ac.numpy_view()
+        assert np.all(ac_view_1 == np.array([1, 2], dtype=np.int32))
+        del ac
+        pytest.gc_collect()
+    assert capture == """
+        ArrayClass()
+        ArrayClass::numpy_view()
+        ArrayClass::numpy_view()
+    """
+    ac_view_1[0] = 4
+    ac_view_1[1] = 3
+    assert ac_view_2[0] == 4
+    assert ac_view_2[1] == 3
+    with capture:
+        del ac_view_1
+        del ac_view_2
+        pytest.gc_collect()
+        pytest.gc_collect()
+    assert capture == """
+        ~ArrayClass()
+    """
+
+
+def test_cast_numpy_int64_to_uint64():
+    m.function_taking_uint64(123)
+    m.function_taking_uint64(np.uint64(123))
+
+
+def test_isinstance():
+    assert m.isinstance_untyped(np.array([1, 2, 3]), "not an array")
+    assert m.isinstance_typed(np.array([1.0, 2.0, 3.0]))
+
+
+def test_constructors():
+    defaults = m.default_constructors()
+    for a in defaults.values():
+        assert a.size == 0
+    assert defaults["array"].dtype == np.array([]).dtype
+    assert defaults["array_t<int32>"].dtype == np.int32
+    assert defaults["array_t<double>"].dtype == np.float64
+
+    results = m.converting_constructors([1, 2, 3])
+    for a in results.values():
+        np.testing.assert_array_equal(a, [1, 2, 3])
+    assert results["array"].dtype == np.int_
+    assert results["array_t<int32>"].dtype == np.int32
+    assert results["array_t<double>"].dtype == np.float64
+
+
+def test_overload_resolution(msg):
+    # Exact overload matches:
+    assert m.overloaded(np.array([1], dtype='float64')) == 'double'
+    assert m.overloaded(np.array([1], dtype='float32')) == 'float'
+    assert m.overloaded(np.array([1], dtype='ushort')) == 'unsigned short'
+    assert m.overloaded(np.array([1], dtype='intc')) == 'int'
+    assert m.overloaded(np.array([1], dtype='longlong')) == 'long long'
+    assert m.overloaded(np.array([1], dtype='complex')) == 'double complex'
+    assert m.overloaded(np.array([1], dtype='csingle')) == 'float complex'
+
+    # No exact match, should call first convertible version:
+    assert m.overloaded(np.array([1], dtype='uint8')) == 'double'
+
+    with pytest.raises(TypeError) as excinfo:
+        m.overloaded("not an array")
+    assert msg(excinfo.value) == """
+        overloaded(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: numpy.ndarray[numpy.float64]) -> str
+            2. (arg0: numpy.ndarray[numpy.float32]) -> str
+            3. (arg0: numpy.ndarray[numpy.int32]) -> str
+            4. (arg0: numpy.ndarray[numpy.uint16]) -> str
+            5. (arg0: numpy.ndarray[numpy.int64]) -> str
+            6. (arg0: numpy.ndarray[numpy.complex128]) -> str
+            7. (arg0: numpy.ndarray[numpy.complex64]) -> str
+
+        Invoked with: 'not an array'
+    """
+
+    assert m.overloaded2(np.array([1], dtype='float64')) == 'double'
+    assert m.overloaded2(np.array([1], dtype='float32')) == 'float'
+    assert m.overloaded2(np.array([1], dtype='complex64')) == 'float complex'
+    assert m.overloaded2(np.array([1], dtype='complex128')) == 'double complex'
+    assert m.overloaded2(np.array([1], dtype='float32')) == 'float'
+
+    assert m.overloaded3(np.array([1], dtype='float64')) == 'double'
+    assert m.overloaded3(np.array([1], dtype='intc')) == 'int'
+    expected_exc = """
+        overloaded3(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: numpy.ndarray[numpy.int32]) -> str
+            2. (arg0: numpy.ndarray[numpy.float64]) -> str
+
+        Invoked with: """
+
+    with pytest.raises(TypeError) as excinfo:
+        m.overloaded3(np.array([1], dtype='uintc'))
+    assert msg(excinfo.value) == expected_exc + repr(np.array([1], dtype='uint32'))
+    with pytest.raises(TypeError) as excinfo:
+        m.overloaded3(np.array([1], dtype='float32'))
+    assert msg(excinfo.value) == expected_exc + repr(np.array([1.], dtype='float32'))
+    with pytest.raises(TypeError) as excinfo:
+        m.overloaded3(np.array([1], dtype='complex'))
+    assert msg(excinfo.value) == expected_exc + repr(np.array([1. + 0.j]))
+
+    # Exact matches:
+    assert m.overloaded4(np.array([1], dtype='double')) == 'double'
+    assert m.overloaded4(np.array([1], dtype='longlong')) == 'long long'
+    # Non-exact matches requiring conversion.  Since float to integer isn't a
+    # save conversion, it should go to the double overload, but short can go to
+    # either (and so should end up on the first-registered, the long long).
+    assert m.overloaded4(np.array([1], dtype='float32')) == 'double'
+    assert m.overloaded4(np.array([1], dtype='short')) == 'long long'
+
+    assert m.overloaded5(np.array([1], dtype='double')) == 'double'
+    assert m.overloaded5(np.array([1], dtype='uintc')) == 'unsigned int'
+    assert m.overloaded5(np.array([1], dtype='float32')) == 'unsigned int'
+
+
+def test_greedy_string_overload():
+    """Tests fix for #685 - ndarray shouldn't go to std::string overload"""
+
+    assert m.issue685("abc") == "string"
+    assert m.issue685(np.array([97, 98, 99], dtype='b')) == "array"
+    assert m.issue685(123) == "other"
+
+
+def test_array_unchecked_fixed_dims(msg):
+    z1 = np.array([[1, 2], [3, 4]], dtype='float64')
+    m.proxy_add2(z1, 10)
+    assert np.all(z1 == [[11, 12], [13, 14]])
+
+    with pytest.raises(ValueError) as excinfo:
+        m.proxy_add2(np.array([1., 2, 3]), 5.0)
+    assert msg(excinfo.value) == "array has incorrect number of dimensions: 1; expected 2"
+
+    expect_c = np.ndarray(shape=(3, 3, 3), buffer=np.array(range(3, 30)), dtype='int')
+    assert np.all(m.proxy_init3(3.0) == expect_c)
+    expect_f = np.transpose(expect_c)
+    assert np.all(m.proxy_init3F(3.0) == expect_f)
+
+    assert m.proxy_squared_L2_norm(np.array(range(6))) == 55
+    assert m.proxy_squared_L2_norm(np.array(range(6), dtype="float64")) == 55
+
+    assert m.proxy_auxiliaries2(z1) == [11, 11, True, 2, 8, 2, 2, 4, 32]
+    assert m.proxy_auxiliaries2(z1) == m.array_auxiliaries2(z1)
+
+    assert m.proxy_auxiliaries1_const_ref(z1[0, :])
+    assert m.proxy_auxiliaries2_const_ref(z1)
+
+
+def test_array_unchecked_dyn_dims(msg):
+    z1 = np.array([[1, 2], [3, 4]], dtype='float64')
+    m.proxy_add2_dyn(z1, 10)
+    assert np.all(z1 == [[11, 12], [13, 14]])
+
+    expect_c = np.ndarray(shape=(3, 3, 3), buffer=np.array(range(3, 30)), dtype='int')
+    assert np.all(m.proxy_init3_dyn(3.0) == expect_c)
+
+    assert m.proxy_auxiliaries2_dyn(z1) == [11, 11, True, 2, 8, 2, 2, 4, 32]
+    assert m.proxy_auxiliaries2_dyn(z1) == m.array_auxiliaries2(z1)
+
+
+def test_array_failure():
+    with pytest.raises(ValueError) as excinfo:
+        m.array_fail_test()
+    assert str(excinfo.value) == 'cannot create a pybind11::array from a nullptr'
+
+    with pytest.raises(ValueError) as excinfo:
+        m.array_t_fail_test()
+    assert str(excinfo.value) == 'cannot create a pybind11::array_t from a nullptr'
+
+    with pytest.raises(ValueError) as excinfo:
+        m.array_fail_test_negative_size()
+    assert str(excinfo.value) == 'negative dimensions are not allowed'
+
+
+def test_initializer_list():
+    assert m.array_initializer_list1().shape == (1,)
+    assert m.array_initializer_list2().shape == (1, 2)
+    assert m.array_initializer_list3().shape == (1, 2, 3)
+    assert m.array_initializer_list4().shape == (1, 2, 3, 4)
+
+
+def test_array_resize(msg):
+    a = np.array([1, 2, 3, 4, 5, 6, 7, 8, 9], dtype='float64')
+    m.array_reshape2(a)
+    assert(a.size == 9)
+    assert(np.all(a == [[1, 2, 3], [4, 5, 6], [7, 8, 9]]))
+
+    # total size change should succced with refcheck off
+    m.array_resize3(a, 4, False)
+    assert(a.size == 64)
+    # ... and fail with refcheck on
+    try:
+        m.array_resize3(a, 3, True)
+    except ValueError as e:
+        assert(str(e).startswith("cannot resize an array"))
+    # transposed array doesn't own data
+    b = a.transpose()
+    try:
+        m.array_resize3(b, 3, False)
+    except ValueError as e:
+        assert(str(e).startswith("cannot resize this array: it does not own its data"))
+    # ... but reshape should be fine
+    m.array_reshape2(b)
+    assert(b.shape == (8, 8))
+
+
+@pytest.mark.xfail("env.PYPY")
+def test_array_create_and_resize(msg):
+    a = m.create_and_resize(2)
+    assert(a.size == 4)
+    assert(np.all(a == 42.))
+
+
+def test_index_using_ellipsis():
+    a = m.index_using_ellipsis(np.zeros((5, 6, 7)))
+    assert a.shape == (6,)
+
+
+@pytest.mark.parametrize("forcecast", [False, True])
+@pytest.mark.parametrize("contiguity", [None, 'C', 'F'])
+@pytest.mark.parametrize("noconvert", [False, True])
+@pytest.mark.filterwarnings(
+    "ignore:Casting complex values to real discards the imaginary part:numpy.ComplexWarning"
+)
+def test_argument_conversions(forcecast, contiguity, noconvert):
+    function_name = "accept_double"
+    if contiguity == 'C':
+        function_name += "_c_style"
+    elif contiguity == 'F':
+        function_name += "_f_style"
+    if forcecast:
+        function_name += "_forcecast"
+    if noconvert:
+        function_name += "_noconvert"
+    function = getattr(m, function_name)
+
+    for dtype in [np.dtype('float32'), np.dtype('float64'), np.dtype('complex128')]:
+        for order in ['C', 'F']:
+            for shape in [(2, 2), (1, 3, 1, 1), (1, 1, 1), (0,)]:
+                if not noconvert:
+                    # If noconvert is not passed, only complex128 needs to be truncated and
+                    # "cannot be safely obtained". So without `forcecast`, the argument shouldn't
+                    # be accepted.
+                    should_raise = dtype.name == 'complex128' and not forcecast
+                else:
+                    # If noconvert is passed, only float64 and the matching order is accepted.
+                    # If at most one dimension has a size greater than 1, the array is also
+                    # trivially contiguous.
+                    trivially_contiguous = sum(1 for d in shape if d > 1) <= 1
+                    should_raise = (
+                        dtype.name != 'float64' or
+                        (contiguity is not None and
+                         contiguity != order and
+                         not trivially_contiguous)
+                    )
+
+                array = np.zeros(shape, dtype=dtype, order=order)
+                if not should_raise:
+                    function(array)
+                else:
+                    with pytest.raises(TypeError, match="incompatible function arguments"):
+                        function(array)
+
+
+@pytest.mark.xfail("env.PYPY")
+def test_dtype_refcount_leak():
+    from sys import getrefcount
+    dtype = np.dtype(np.float_)
+    a = np.array([1], dtype=dtype)
+    before = getrefcount(dtype)
+    m.ndim(a)
+    after = getrefcount(dtype)
+    assert after == before
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_dtypes.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_dtypes.cpp
new file mode 100644
index 0000000..c4ab02b
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_dtypes.cpp
@@ -0,0 +1,499 @@
+/*
+  tests/test_numpy_dtypes.cpp -- Structured and compound NumPy dtypes
+
+  Copyright (c) 2016 Ivan Smirnov
+
+  All rights reserved. Use of this source code is governed by a
+  BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include <pybind11/numpy.h>
+
+#ifdef __GNUC__
+#define PYBIND11_PACKED(cls) cls __attribute__((__packed__))
+#else
+#define PYBIND11_PACKED(cls) __pragma(pack(push, 1)) cls __pragma(pack(pop))
+#endif
+
+namespace py = pybind11;
+
+struct SimpleStruct {
+    bool bool_;
+    uint32_t uint_;
+    float float_;
+    long double ldbl_;
+};
+
+std::ostream& operator<<(std::ostream& os, const SimpleStruct& v) {
+    return os << "s:" << v.bool_ << "," << v.uint_ << "," << v.float_ << "," << v.ldbl_;
+}
+
+struct SimpleStructReordered {
+    bool bool_;
+    float float_;
+    uint32_t uint_;
+    long double ldbl_;
+};
+
+PYBIND11_PACKED(struct PackedStruct {
+    bool bool_;
+    uint32_t uint_;
+    float float_;
+    long double ldbl_;
+});
+
+std::ostream& operator<<(std::ostream& os, const PackedStruct& v) {
+    return os << "p:" << v.bool_ << "," << v.uint_ << "," << v.float_ << "," << v.ldbl_;
+}
+
+PYBIND11_PACKED(struct NestedStruct {
+    SimpleStruct a;
+    PackedStruct b;
+});
+
+std::ostream& operator<<(std::ostream& os, const NestedStruct& v) {
+    return os << "n:a=" << v.a << ";b=" << v.b;
+}
+
+struct PartialStruct {
+    bool bool_;
+    uint32_t uint_;
+    float float_;
+    uint64_t dummy2;
+    long double ldbl_;
+};
+
+struct PartialNestedStruct {
+    uint64_t dummy1;
+    PartialStruct a;
+    uint64_t dummy2;
+};
+
+struct UnboundStruct { };
+
+struct StringStruct {
+    char a[3];
+    std::array<char, 3> b;
+};
+
+struct ComplexStruct {
+    std::complex<float> cflt;
+    std::complex<double> cdbl;
+};
+
+std::ostream& operator<<(std::ostream& os, const ComplexStruct& v) {
+    return os << "c:" << v.cflt << "," << v.cdbl;
+}
+
+struct ArrayStruct {
+    char a[3][4];
+    int32_t b[2];
+    std::array<uint8_t, 3> c;
+    std::array<float, 2> d[4];
+};
+
+PYBIND11_PACKED(struct StructWithUglyNames {
+    int8_t __x__;
+    uint64_t __y__;
+});
+
+enum class E1 : int64_t { A = -1, B = 1 };
+enum E2 : uint8_t { X = 1, Y = 2 };
+
+PYBIND11_PACKED(struct EnumStruct {
+    E1 e1;
+    E2 e2;
+});
+
+std::ostream& operator<<(std::ostream& os, const StringStruct& v) {
+    os << "a='";
+    for (size_t i = 0; i < 3 && v.a[i]; i++) os << v.a[i];
+    os << "',b='";
+    for (size_t i = 0; i < 3 && v.b[i]; i++) os << v.b[i];
+    return os << "'";
+}
+
+std::ostream& operator<<(std::ostream& os, const ArrayStruct& v) {
+    os << "a={";
+    for (int i = 0; i < 3; i++) {
+        if (i > 0)
+            os << ',';
+        os << '{';
+        for (int j = 0; j < 3; j++)
+            os << v.a[i][j] << ',';
+        os << v.a[i][3] << '}';
+    }
+    os << "},b={" << v.b[0] << ',' << v.b[1];
+    os << "},c={" << int(v.c[0]) << ',' << int(v.c[1]) << ',' << int(v.c[2]);
+    os << "},d={";
+    for (int i = 0; i < 4; i++) {
+        if (i > 0)
+            os << ',';
+        os << '{' << v.d[i][0] << ',' << v.d[i][1] << '}';
+    }
+    return os << '}';
+}
+
+std::ostream& operator<<(std::ostream& os, const EnumStruct& v) {
+    return os << "e1=" << (v.e1 == E1::A ? "A" : "B") << ",e2=" << (v.e2 == E2::X ? "X" : "Y");
+}
+
+template <typename T>
+py::array mkarray_via_buffer(size_t n) {
+    return py::array(py::buffer_info(nullptr, sizeof(T),
+                                     py::format_descriptor<T>::format(),
+                                     1, { n }, { sizeof(T) }));
+}
+
+#define SET_TEST_VALS(s, i) do { \
+    s.bool_ = (i) % 2 != 0; \
+    s.uint_ = (uint32_t) (i); \
+    s.float_ = (float) (i) * 1.5f; \
+    s.ldbl_ = (long double) (i) * -2.5L; } while (0)
+
+template <typename S>
+py::array_t<S, 0> create_recarray(size_t n) {
+    auto arr = mkarray_via_buffer<S>(n);
+    auto req = arr.request();
+    auto ptr = static_cast<S*>(req.ptr);
+    for (size_t i = 0; i < n; i++) {
+        SET_TEST_VALS(ptr[i], i);
+    }
+    return arr;
+}
+
+template <typename S>
+py::list print_recarray(py::array_t<S, 0> arr) {
+    const auto req = arr.request();
+    const auto ptr = static_cast<S*>(req.ptr);
+    auto l = py::list();
+    for (ssize_t i = 0; i < req.size; i++) {
+        std::stringstream ss;
+        ss << ptr[i];
+        l.append(py::str(ss.str()));
+    }
+    return l;
+}
+
+py::array_t<int32_t, 0> test_array_ctors(int i) {
+    using arr_t = py::array_t<int32_t, 0>;
+
+    std::vector<int32_t> data { 1, 2, 3, 4, 5, 6 };
+    std::vector<ssize_t> shape { 3, 2 };
+    std::vector<ssize_t> strides { 8, 4 };
+
+    auto ptr = data.data();
+    auto vptr = (void *) ptr;
+    auto dtype = py::dtype("int32");
+
+    py::buffer_info buf_ndim1(vptr, 4, "i", 6);
+    py::buffer_info buf_ndim1_null(nullptr, 4, "i", 6);
+    py::buffer_info buf_ndim2(vptr, 4, "i", 2, shape, strides);
+    py::buffer_info buf_ndim2_null(nullptr, 4, "i", 2, shape, strides);
+
+    auto fill = [](py::array arr) {
+        auto req = arr.request();
+        for (int i = 0; i < 6; i++) ((int32_t *) req.ptr)[i] = i + 1;
+        return arr;
+    };
+
+    switch (i) {
+    // shape: (3, 2)
+    case 10: return arr_t(shape, strides, ptr);
+    case 11: return py::array(shape, strides, ptr);
+    case 12: return py::array(dtype, shape, strides, vptr);
+    case 13: return arr_t(shape, ptr);
+    case 14: return py::array(shape, ptr);
+    case 15: return py::array(dtype, shape, vptr);
+    case 16: return arr_t(buf_ndim2);
+    case 17: return py::array(buf_ndim2);
+    // shape: (3, 2) - post-fill
+    case 20: return fill(arr_t(shape, strides));
+    case 21: return py::array(shape, strides, ptr); // can't have nullptr due to templated ctor
+    case 22: return fill(py::array(dtype, shape, strides));
+    case 23: return fill(arr_t(shape));
+    case 24: return py::array(shape, ptr); // can't have nullptr due to templated ctor
+    case 25: return fill(py::array(dtype, shape));
+    case 26: return fill(arr_t(buf_ndim2_null));
+    case 27: return fill(py::array(buf_ndim2_null));
+    // shape: (6, )
+    case 30: return arr_t(6, ptr);
+    case 31: return py::array(6, ptr);
+    case 32: return py::array(dtype, 6, vptr);
+    case 33: return arr_t(buf_ndim1);
+    case 34: return py::array(buf_ndim1);
+    // shape: (6, )
+    case 40: return fill(arr_t(6));
+    case 41: return py::array(6, ptr);  // can't have nullptr due to templated ctor
+    case 42: return fill(py::array(dtype, 6));
+    case 43: return fill(arr_t(buf_ndim1_null));
+    case 44: return fill(py::array(buf_ndim1_null));
+    }
+    return arr_t();
+}
+
+py::list test_dtype_ctors() {
+    py::list list;
+    list.append(py::dtype("int32"));
+    list.append(py::dtype(std::string("float64")));
+    list.append(py::dtype::from_args(py::str("bool")));
+    py::list names, offsets, formats;
+    py::dict dict;
+    names.append(py::str("a")); names.append(py::str("b")); dict["names"] = names;
+    offsets.append(py::int_(1)); offsets.append(py::int_(10)); dict["offsets"] = offsets;
+    formats.append(py::dtype("int32")); formats.append(py::dtype("float64")); dict["formats"] = formats;
+    dict["itemsize"] = py::int_(20);
+    list.append(py::dtype::from_args(dict));
+    list.append(py::dtype(names, formats, offsets, 20));
+    list.append(py::dtype(py::buffer_info((void *) 0, sizeof(unsigned int), "I", 1)));
+    list.append(py::dtype(py::buffer_info((void *) 0, 0, "T{i:a:f:b:}", 1)));
+    return list;
+}
+
+struct A {};
+struct B {};
+
+TEST_SUBMODULE(numpy_dtypes, m) {
+    try { py::module_::import("numpy"); }
+    catch (...) { return; }
+
+    // typeinfo may be registered before the dtype descriptor for scalar casts to work...
+    py::class_<SimpleStruct>(m, "SimpleStruct")
+        // Explicit construct to ensure zero-valued initialization.
+        .def(py::init([]() { return SimpleStruct(); }))
+        .def_readwrite("bool_", &SimpleStruct::bool_)
+        .def_readwrite("uint_", &SimpleStruct::uint_)
+        .def_readwrite("float_", &SimpleStruct::float_)
+        .def_readwrite("ldbl_", &SimpleStruct::ldbl_)
+        .def("astuple", [](const SimpleStruct& self) {
+            return py::make_tuple(self.bool_, self.uint_, self.float_, self.ldbl_);
+        })
+        .def_static("fromtuple", [](const py::tuple tup) {
+            if (py::len(tup) != 4) {
+                throw py::cast_error("Invalid size");
+            }
+            return SimpleStruct{
+                tup[0].cast<bool>(),
+                tup[1].cast<uint32_t>(),
+                tup[2].cast<float>(),
+                tup[3].cast<long double>()};
+        });
+
+    PYBIND11_NUMPY_DTYPE(SimpleStruct, bool_, uint_, float_, ldbl_);
+    PYBIND11_NUMPY_DTYPE(SimpleStructReordered, bool_, uint_, float_, ldbl_);
+    PYBIND11_NUMPY_DTYPE(PackedStruct, bool_, uint_, float_, ldbl_);
+    PYBIND11_NUMPY_DTYPE(NestedStruct, a, b);
+    PYBIND11_NUMPY_DTYPE(PartialStruct, bool_, uint_, float_, ldbl_);
+    PYBIND11_NUMPY_DTYPE(PartialNestedStruct, a);
+    PYBIND11_NUMPY_DTYPE(StringStruct, a, b);
+    PYBIND11_NUMPY_DTYPE(ArrayStruct, a, b, c, d);
+    PYBIND11_NUMPY_DTYPE(EnumStruct, e1, e2);
+    PYBIND11_NUMPY_DTYPE(ComplexStruct, cflt, cdbl);
+
+    // ... or after
+    py::class_<PackedStruct>(m, "PackedStruct");
+
+    PYBIND11_NUMPY_DTYPE_EX(StructWithUglyNames, __x__, "x", __y__, "y");
+
+    // If uncommented, this should produce a static_assert failure telling the user that the struct
+    // is not a POD type
+//    struct NotPOD { std::string v; NotPOD() : v("hi") {}; };
+//    PYBIND11_NUMPY_DTYPE(NotPOD, v);
+
+    // Check that dtypes can be registered programmatically, both from
+    // initializer lists of field descriptors and from other containers.
+    py::detail::npy_format_descriptor<A>::register_dtype(
+        {}
+    );
+    py::detail::npy_format_descriptor<B>::register_dtype(
+        std::vector<py::detail::field_descriptor>{}
+    );
+
+    // test_recarray, test_scalar_conversion
+    m.def("create_rec_simple", &create_recarray<SimpleStruct>);
+    m.def("create_rec_packed", &create_recarray<PackedStruct>);
+    m.def("create_rec_nested", [](size_t n) { // test_signature
+        py::array_t<NestedStruct, 0> arr = mkarray_via_buffer<NestedStruct>(n);
+        auto req = arr.request();
+        auto ptr = static_cast<NestedStruct*>(req.ptr);
+        for (size_t i = 0; i < n; i++) {
+            SET_TEST_VALS(ptr[i].a, i);
+            SET_TEST_VALS(ptr[i].b, i + 1);
+        }
+        return arr;
+    });
+    m.def("create_rec_partial", &create_recarray<PartialStruct>);
+    m.def("create_rec_partial_nested", [](size_t n) {
+        py::array_t<PartialNestedStruct, 0> arr = mkarray_via_buffer<PartialNestedStruct>(n);
+        auto req = arr.request();
+        auto ptr = static_cast<PartialNestedStruct*>(req.ptr);
+        for (size_t i = 0; i < n; i++) {
+            SET_TEST_VALS(ptr[i].a, i);
+        }
+        return arr;
+    });
+    m.def("print_rec_simple", &print_recarray<SimpleStruct>);
+    m.def("print_rec_packed", &print_recarray<PackedStruct>);
+    m.def("print_rec_nested", &print_recarray<NestedStruct>);
+
+    // test_format_descriptors
+    m.def("get_format_unbound", []() { return py::format_descriptor<UnboundStruct>::format(); });
+    m.def("print_format_descriptors", []() {
+        py::list l;
+        for (const auto &fmt : {
+            py::format_descriptor<SimpleStruct>::format(),
+            py::format_descriptor<PackedStruct>::format(),
+            py::format_descriptor<NestedStruct>::format(),
+            py::format_descriptor<PartialStruct>::format(),
+            py::format_descriptor<PartialNestedStruct>::format(),
+            py::format_descriptor<StringStruct>::format(),
+            py::format_descriptor<ArrayStruct>::format(),
+            py::format_descriptor<EnumStruct>::format(),
+            py::format_descriptor<ComplexStruct>::format()
+        }) {
+            l.append(py::cast(fmt));
+        }
+        return l;
+    });
+
+    // test_dtype
+    m.def("print_dtypes", []() {
+        py::list l;
+        for (const py::handle &d : {
+            py::dtype::of<SimpleStruct>(),
+            py::dtype::of<PackedStruct>(),
+            py::dtype::of<NestedStruct>(),
+            py::dtype::of<PartialStruct>(),
+            py::dtype::of<PartialNestedStruct>(),
+            py::dtype::of<StringStruct>(),
+            py::dtype::of<ArrayStruct>(),
+            py::dtype::of<EnumStruct>(),
+            py::dtype::of<StructWithUglyNames>(),
+            py::dtype::of<ComplexStruct>()
+        })
+            l.append(py::str(d));
+        return l;
+    });
+    m.def("test_dtype_ctors", &test_dtype_ctors);
+    m.def("test_dtype_methods", []() {
+        py::list list;
+        auto dt1 = py::dtype::of<int32_t>();
+        auto dt2 = py::dtype::of<SimpleStruct>();
+        list.append(dt1); list.append(dt2);
+        list.append(py::bool_(dt1.has_fields())); list.append(py::bool_(dt2.has_fields()));
+        list.append(py::int_(dt1.itemsize())); list.append(py::int_(dt2.itemsize()));
+        return list;
+    });
+    struct TrailingPaddingStruct {
+        int32_t a;
+        char b;
+    };
+    PYBIND11_NUMPY_DTYPE(TrailingPaddingStruct, a, b);
+    m.def("trailing_padding_dtype", []() { return py::dtype::of<TrailingPaddingStruct>(); });
+
+    // test_string_array
+    m.def("create_string_array", [](bool non_empty) {
+        py::array_t<StringStruct, 0> arr = mkarray_via_buffer<StringStruct>(non_empty ? 4 : 0);
+        if (non_empty) {
+            auto req = arr.request();
+            auto ptr = static_cast<StringStruct*>(req.ptr);
+            for (ssize_t i = 0; i < req.size * req.itemsize; i++)
+                static_cast<char*>(req.ptr)[i] = 0;
+            ptr[1].a[0] = 'a'; ptr[1].b[0] = 'a';
+            ptr[2].a[0] = 'a'; ptr[2].b[0] = 'a';
+            ptr[3].a[0] = 'a'; ptr[3].b[0] = 'a';
+
+            ptr[2].a[1] = 'b'; ptr[2].b[1] = 'b';
+            ptr[3].a[1] = 'b'; ptr[3].b[1] = 'b';
+
+            ptr[3].a[2] = 'c'; ptr[3].b[2] = 'c';
+        }
+        return arr;
+    });
+    m.def("print_string_array", &print_recarray<StringStruct>);
+
+    // test_array_array
+    m.def("create_array_array", [](size_t n) {
+        py::array_t<ArrayStruct, 0> arr = mkarray_via_buffer<ArrayStruct>(n);
+        auto ptr = (ArrayStruct *) arr.mutable_data();
+        for (size_t i = 0; i < n; i++) {
+            for (size_t j = 0; j < 3; j++)
+                for (size_t k = 0; k < 4; k++)
+                    ptr[i].a[j][k] = char('A' + (i * 100 + j * 10 + k) % 26);
+            for (size_t j = 0; j < 2; j++)
+                ptr[i].b[j] = int32_t(i * 1000 + j);
+            for (size_t j = 0; j < 3; j++)
+                ptr[i].c[j] = uint8_t(i * 10 + j);
+            for (size_t j = 0; j < 4; j++)
+                for (size_t k = 0; k < 2; k++)
+                    ptr[i].d[j][k] = float(i) * 100.0f + float(j) * 10.0f + float(k);
+        }
+        return arr;
+    });
+    m.def("print_array_array", &print_recarray<ArrayStruct>);
+
+    // test_enum_array
+    m.def("create_enum_array", [](size_t n) {
+        py::array_t<EnumStruct, 0> arr = mkarray_via_buffer<EnumStruct>(n);
+        auto ptr = (EnumStruct *) arr.mutable_data();
+        for (size_t i = 0; i < n; i++) {
+            ptr[i].e1 = static_cast<E1>(-1 + ((int) i % 2) * 2);
+            ptr[i].e2 = static_cast<E2>(1 + (i % 2));
+        }
+        return arr;
+    });
+    m.def("print_enum_array", &print_recarray<EnumStruct>);
+
+    // test_complex_array
+    m.def("create_complex_array", [](size_t n) {
+        py::array_t<ComplexStruct, 0> arr = mkarray_via_buffer<ComplexStruct>(n);
+        auto ptr = (ComplexStruct *) arr.mutable_data();
+        for (size_t i = 0; i < n; i++) {
+            ptr[i].cflt.real(float(i));
+            ptr[i].cflt.imag(float(i) + 0.25f);
+            ptr[i].cdbl.real(double(i) + 0.5);
+            ptr[i].cdbl.imag(double(i) + 0.75);
+        }
+        return arr;
+    });
+    m.def("print_complex_array", &print_recarray<ComplexStruct>);
+
+    // test_array_constructors
+    m.def("test_array_ctors", &test_array_ctors);
+
+    // test_compare_buffer_info
+    struct CompareStruct {
+        bool x;
+        uint32_t y;
+        float z;
+    };
+    PYBIND11_NUMPY_DTYPE(CompareStruct, x, y, z);
+    m.def("compare_buffer_info", []() {
+        py::list list;
+        list.append(py::bool_(py::detail::compare_buffer_info<float>::compare(py::buffer_info(nullptr, sizeof(float), "f", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<unsigned>::compare(py::buffer_info(nullptr, sizeof(int), "I", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<long>::compare(py::buffer_info(nullptr, sizeof(long), "l", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<long>::compare(py::buffer_info(nullptr, sizeof(long), sizeof(long) == sizeof(int) ? "i" : "q", 1))));
+        list.append(py::bool_(py::detail::compare_buffer_info<CompareStruct>::compare(py::buffer_info(nullptr, sizeof(CompareStruct), "T{?:x:3xI:y:f:z:}", 1))));
+        return list;
+    });
+    m.def("buffer_to_dtype", [](py::buffer& buf) { return py::dtype(buf.request()); });
+
+    // test_scalar_conversion
+    auto f_simple = [](SimpleStruct s) { return s.uint_ * 10; };
+    m.def("f_simple", f_simple);
+    m.def("f_packed", [](PackedStruct s) { return s.uint_ * 10; });
+    m.def("f_nested", [](NestedStruct s) { return s.a.uint_ * 10; });
+
+    // test_vectorize
+    m.def("f_simple_vectorized", py::vectorize(f_simple));
+    auto f_simple_pass_thru = [](SimpleStruct s) { return s; };
+    m.def("f_simple_pass_thru_vectorized", py::vectorize(f_simple_pass_thru));
+
+    // test_register_dtype
+    m.def("register_dtype", []() { PYBIND11_NUMPY_DTYPE(SimpleStruct, bool_, uint_, float_, ldbl_); });
+
+    // test_str_leak
+    m.def("dtype_wrapper", [](py::object d) { return py::dtype::from_args(std::move(d)); });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_dtypes.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_dtypes.py
new file mode 100644
index 0000000..b9f3bd2
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_dtypes.py
@@ -0,0 +1,366 @@
+# -*- coding: utf-8 -*-
+import re
+
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import numpy_dtypes as m
+
+np = pytest.importorskip("numpy")
+
+
+@pytest.fixture(scope='module')
+def simple_dtype():
+    ld = np.dtype('longdouble')
+    return np.dtype({'names': ['bool_', 'uint_', 'float_', 'ldbl_'],
+                     'formats': ['?', 'u4', 'f4', 'f{}'.format(ld.itemsize)],
+                     'offsets': [0, 4, 8, (16 if ld.alignment > 4 else 12)]})
+
+
+@pytest.fixture(scope='module')
+def packed_dtype():
+    return np.dtype([('bool_', '?'), ('uint_', 'u4'), ('float_', 'f4'), ('ldbl_', 'g')])
+
+
+def dt_fmt():
+    from sys import byteorder
+    e = '<' if byteorder == 'little' else '>'
+    return ("{{'names':['bool_','uint_','float_','ldbl_'],"
+            " 'formats':['?','" + e + "u4','" + e + "f4','" + e + "f{}'],"
+            " 'offsets':[0,4,8,{}], 'itemsize':{}}}")
+
+
+def simple_dtype_fmt():
+    ld = np.dtype('longdouble')
+    simple_ld_off = 12 + 4 * (ld.alignment > 4)
+    return dt_fmt().format(ld.itemsize, simple_ld_off, simple_ld_off + ld.itemsize)
+
+
+def packed_dtype_fmt():
+    from sys import byteorder
+    return "[('bool_', '?'), ('uint_', '{e}u4'), ('float_', '{e}f4'), ('ldbl_', '{e}f{}')]".format(
+        np.dtype('longdouble').itemsize, e='<' if byteorder == 'little' else '>')
+
+
+def partial_ld_offset():
+    return 12 + 4 * (np.dtype('uint64').alignment > 4) + 8 + 8 * (
+        np.dtype('longdouble').alignment > 8)
+
+
+def partial_dtype_fmt():
+    ld = np.dtype('longdouble')
+    partial_ld_off = partial_ld_offset()
+    return dt_fmt().format(ld.itemsize, partial_ld_off, partial_ld_off + ld.itemsize)
+
+
+def partial_nested_fmt():
+    ld = np.dtype('longdouble')
+    partial_nested_off = 8 + 8 * (ld.alignment > 8)
+    partial_ld_off = partial_ld_offset()
+    partial_nested_size = partial_nested_off * 2 + partial_ld_off + ld.itemsize
+    return "{{'names':['a'], 'formats':[{}], 'offsets':[{}], 'itemsize':{}}}".format(
+        partial_dtype_fmt(), partial_nested_off, partial_nested_size)
+
+
+def assert_equal(actual, expected_data, expected_dtype):
+    np.testing.assert_equal(actual, np.array(expected_data, dtype=expected_dtype))
+
+
+def test_format_descriptors():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.get_format_unbound()
+    assert re.match('^NumPy type info missing for .*UnboundStruct.*$', str(excinfo.value))
+
+    ld = np.dtype('longdouble')
+    ldbl_fmt = ('4x' if ld.alignment > 4 else '') + ld.char
+    ss_fmt = "^T{?:bool_:3xI:uint_:f:float_:" + ldbl_fmt + ":ldbl_:}"
+    dbl = np.dtype('double')
+    partial_fmt = ("^T{?:bool_:3xI:uint_:f:float_:" +
+                   str(4 * (dbl.alignment > 4) + dbl.itemsize + 8 * (ld.alignment > 8)) +
+                   "xg:ldbl_:}")
+    nested_extra = str(max(8, ld.alignment))
+    assert m.print_format_descriptors() == [
+        ss_fmt,
+        "^T{?:bool_:I:uint_:f:float_:g:ldbl_:}",
+        "^T{" + ss_fmt + ":a:^T{?:bool_:I:uint_:f:float_:g:ldbl_:}:b:}",
+        partial_fmt,
+        "^T{" + nested_extra + "x" + partial_fmt + ":a:" + nested_extra + "x}",
+        "^T{3s:a:3s:b:}",
+        "^T{(3)4s:a:(2)i:b:(3)B:c:1x(4, 2)f:d:}",
+        '^T{q:e1:B:e2:}',
+        '^T{Zf:cflt:Zd:cdbl:}'
+    ]
+
+
+def test_dtype(simple_dtype):
+    from sys import byteorder
+    e = '<' if byteorder == 'little' else '>'
+
+    assert m.print_dtypes() == [
+        simple_dtype_fmt(),
+        packed_dtype_fmt(),
+        "[('a', {}), ('b', {})]".format(simple_dtype_fmt(), packed_dtype_fmt()),
+        partial_dtype_fmt(),
+        partial_nested_fmt(),
+        "[('a', 'S3'), ('b', 'S3')]",
+        ("{{'names':['a','b','c','d'], " +
+         "'formats':[('S4', (3,)),('" + e + "i4', (2,)),('u1', (3,)),('" + e + "f4', (4, 2))], " +
+         "'offsets':[0,12,20,24], 'itemsize':56}}").format(e=e),
+        "[('e1', '" + e + "i8'), ('e2', 'u1')]",
+        "[('x', 'i1'), ('y', '" + e + "u8')]",
+        "[('cflt', '" + e + "c8'), ('cdbl', '" + e + "c16')]"
+    ]
+
+    d1 = np.dtype({'names': ['a', 'b'], 'formats': ['int32', 'float64'],
+                   'offsets': [1, 10], 'itemsize': 20})
+    d2 = np.dtype([('a', 'i4'), ('b', 'f4')])
+    assert m.test_dtype_ctors() == [np.dtype('int32'), np.dtype('float64'),
+                                    np.dtype('bool'), d1, d1, np.dtype('uint32'), d2]
+
+    assert m.test_dtype_methods() == [np.dtype('int32'), simple_dtype, False, True,
+                                      np.dtype('int32').itemsize, simple_dtype.itemsize]
+
+    assert m.trailing_padding_dtype() == m.buffer_to_dtype(np.zeros(1, m.trailing_padding_dtype()))
+
+
+def test_recarray(simple_dtype, packed_dtype):
+    elements = [(False, 0, 0.0, -0.0), (True, 1, 1.5, -2.5), (False, 2, 3.0, -5.0)]
+
+    for func, dtype in [(m.create_rec_simple, simple_dtype), (m.create_rec_packed, packed_dtype)]:
+        arr = func(0)
+        assert arr.dtype == dtype
+        assert_equal(arr, [], simple_dtype)
+        assert_equal(arr, [], packed_dtype)
+
+        arr = func(3)
+        assert arr.dtype == dtype
+        assert_equal(arr, elements, simple_dtype)
+        assert_equal(arr, elements, packed_dtype)
+
+        # Show what recarray's look like in NumPy.
+        assert type(arr[0]) == np.void
+        assert type(arr[0].item()) == tuple
+
+        if dtype == simple_dtype:
+            assert m.print_rec_simple(arr) == [
+                "s:0,0,0,-0",
+                "s:1,1,1.5,-2.5",
+                "s:0,2,3,-5"
+            ]
+        else:
+            assert m.print_rec_packed(arr) == [
+                "p:0,0,0,-0",
+                "p:1,1,1.5,-2.5",
+                "p:0,2,3,-5"
+            ]
+
+    nested_dtype = np.dtype([('a', simple_dtype), ('b', packed_dtype)])
+
+    arr = m.create_rec_nested(0)
+    assert arr.dtype == nested_dtype
+    assert_equal(arr, [], nested_dtype)
+
+    arr = m.create_rec_nested(3)
+    assert arr.dtype == nested_dtype
+    assert_equal(arr, [((False, 0, 0.0, -0.0), (True, 1, 1.5, -2.5)),
+                       ((True, 1, 1.5, -2.5), (False, 2, 3.0, -5.0)),
+                       ((False, 2, 3.0, -5.0), (True, 3, 4.5, -7.5))], nested_dtype)
+    assert m.print_rec_nested(arr) == [
+        "n:a=s:0,0,0,-0;b=p:1,1,1.5,-2.5",
+        "n:a=s:1,1,1.5,-2.5;b=p:0,2,3,-5",
+        "n:a=s:0,2,3,-5;b=p:1,3,4.5,-7.5"
+    ]
+
+    arr = m.create_rec_partial(3)
+    assert str(arr.dtype) == partial_dtype_fmt()
+    partial_dtype = arr.dtype
+    assert '' not in arr.dtype.fields
+    assert partial_dtype.itemsize > simple_dtype.itemsize
+    assert_equal(arr, elements, simple_dtype)
+    assert_equal(arr, elements, packed_dtype)
+
+    arr = m.create_rec_partial_nested(3)
+    assert str(arr.dtype) == partial_nested_fmt()
+    assert '' not in arr.dtype.fields
+    assert '' not in arr.dtype.fields['a'][0].fields
+    assert arr.dtype.itemsize > partial_dtype.itemsize
+    np.testing.assert_equal(arr['a'], m.create_rec_partial(3))
+
+
+def test_array_constructors():
+    data = np.arange(1, 7, dtype='int32')
+    for i in range(8):
+        np.testing.assert_array_equal(m.test_array_ctors(10 + i), data.reshape((3, 2)))
+        np.testing.assert_array_equal(m.test_array_ctors(20 + i), data.reshape((3, 2)))
+    for i in range(5):
+        np.testing.assert_array_equal(m.test_array_ctors(30 + i), data)
+        np.testing.assert_array_equal(m.test_array_ctors(40 + i), data)
+
+
+def test_string_array():
+    arr = m.create_string_array(True)
+    assert str(arr.dtype) == "[('a', 'S3'), ('b', 'S3')]"
+    assert m.print_string_array(arr) == [
+        "a='',b=''",
+        "a='a',b='a'",
+        "a='ab',b='ab'",
+        "a='abc',b='abc'"
+    ]
+    dtype = arr.dtype
+    assert arr['a'].tolist() == [b'', b'a', b'ab', b'abc']
+    assert arr['b'].tolist() == [b'', b'a', b'ab', b'abc']
+    arr = m.create_string_array(False)
+    assert dtype == arr.dtype
+
+
+def test_array_array():
+    from sys import byteorder
+    e = '<' if byteorder == 'little' else '>'
+
+    arr = m.create_array_array(3)
+    assert str(arr.dtype) == (
+        "{{'names':['a','b','c','d'], " +
+        "'formats':[('S4', (3,)),('" + e + "i4', (2,)),('u1', (3,)),('{e}f4', (4, 2))], " +
+        "'offsets':[0,12,20,24], 'itemsize':56}}").format(e=e)
+    assert m.print_array_array(arr) == [
+        "a={{A,B,C,D},{K,L,M,N},{U,V,W,X}},b={0,1}," +
+        "c={0,1,2},d={{0,1},{10,11},{20,21},{30,31}}",
+        "a={{W,X,Y,Z},{G,H,I,J},{Q,R,S,T}},b={1000,1001}," +
+        "c={10,11,12},d={{100,101},{110,111},{120,121},{130,131}}",
+        "a={{S,T,U,V},{C,D,E,F},{M,N,O,P}},b={2000,2001}," +
+        "c={20,21,22},d={{200,201},{210,211},{220,221},{230,231}}",
+    ]
+    assert arr['a'].tolist() == [[b'ABCD', b'KLMN', b'UVWX'],
+                                 [b'WXYZ', b'GHIJ', b'QRST'],
+                                 [b'STUV', b'CDEF', b'MNOP']]
+    assert arr['b'].tolist() == [[0, 1], [1000, 1001], [2000, 2001]]
+    assert m.create_array_array(0).dtype == arr.dtype
+
+
+def test_enum_array():
+    from sys import byteorder
+    e = '<' if byteorder == 'little' else '>'
+
+    arr = m.create_enum_array(3)
+    dtype = arr.dtype
+    assert dtype == np.dtype([('e1', e + 'i8'), ('e2', 'u1')])
+    assert m.print_enum_array(arr) == [
+        "e1=A,e2=X",
+        "e1=B,e2=Y",
+        "e1=A,e2=X"
+    ]
+    assert arr['e1'].tolist() == [-1, 1, -1]
+    assert arr['e2'].tolist() == [1, 2, 1]
+    assert m.create_enum_array(0).dtype == dtype
+
+
+def test_complex_array():
+    from sys import byteorder
+    e = '<' if byteorder == 'little' else '>'
+
+    arr = m.create_complex_array(3)
+    dtype = arr.dtype
+    assert dtype == np.dtype([('cflt', e + 'c8'), ('cdbl', e + 'c16')])
+    assert m.print_complex_array(arr) == [
+        "c:(0,0.25),(0.5,0.75)",
+        "c:(1,1.25),(1.5,1.75)",
+        "c:(2,2.25),(2.5,2.75)"
+    ]
+    assert arr['cflt'].tolist() == [0.0 + 0.25j, 1.0 + 1.25j, 2.0 + 2.25j]
+    assert arr['cdbl'].tolist() == [0.5 + 0.75j, 1.5 + 1.75j, 2.5 + 2.75j]
+    assert m.create_complex_array(0).dtype == dtype
+
+
+def test_signature(doc):
+    assert doc(m.create_rec_nested) == \
+        "create_rec_nested(arg0: int) -> numpy.ndarray[NestedStruct]"
+
+
+def test_scalar_conversion():
+    n = 3
+    arrays = [m.create_rec_simple(n), m.create_rec_packed(n),
+              m.create_rec_nested(n), m.create_enum_array(n)]
+    funcs = [m.f_simple, m.f_packed, m.f_nested]
+
+    for i, func in enumerate(funcs):
+        for j, arr in enumerate(arrays):
+            if i == j and i < 2:
+                assert [func(arr[k]) for k in range(n)] == [k * 10 for k in range(n)]
+            else:
+                with pytest.raises(TypeError) as excinfo:
+                    func(arr[0])
+                assert 'incompatible function arguments' in str(excinfo.value)
+
+
+def test_vectorize():
+    n = 3
+    array = m.create_rec_simple(n)
+    values = m.f_simple_vectorized(array)
+    np.testing.assert_array_equal(values, [0, 10, 20])
+    array_2 = m.f_simple_pass_thru_vectorized(array)
+    np.testing.assert_array_equal(array, array_2)
+
+
+def test_cls_and_dtype_conversion(simple_dtype):
+    s = m.SimpleStruct()
+    assert s.astuple() == (False, 0, 0., 0.)
+    assert m.SimpleStruct.fromtuple(s.astuple()).astuple() == s.astuple()
+
+    s.uint_ = 2
+    assert m.f_simple(s) == 20
+
+    # Try as recarray of shape==(1,).
+    s_recarray = np.array([(False, 2, 0., 0.)], dtype=simple_dtype)
+    # Show that this will work for vectorized case.
+    np.testing.assert_array_equal(m.f_simple_vectorized(s_recarray), [20])
+
+    # Show as a scalar that inherits from np.generic.
+    s_scalar = s_recarray[0]
+    assert isinstance(s_scalar, np.void)
+    assert m.f_simple(s_scalar) == 20
+
+    # Show that an *array* scalar (np.ndarray.shape == ()) does not convert.
+    # More specifically, conversion to SimpleStruct is not implicit.
+    s_recarray_scalar = s_recarray.reshape(())
+    assert isinstance(s_recarray_scalar, np.ndarray)
+    assert s_recarray_scalar.dtype == simple_dtype
+    with pytest.raises(TypeError) as excinfo:
+        m.f_simple(s_recarray_scalar)
+    assert 'incompatible function arguments' in str(excinfo.value)
+    # Explicitly convert to m.SimpleStruct.
+    assert m.f_simple(
+        m.SimpleStruct.fromtuple(s_recarray_scalar.item())) == 20
+
+    # Show that an array of dtype=object does *not* convert.
+    s_array_object = np.array([s])
+    assert s_array_object.dtype == object
+    with pytest.raises(TypeError) as excinfo:
+        m.f_simple_vectorized(s_array_object)
+    assert 'incompatible function arguments' in str(excinfo.value)
+    # Explicitly convert to `np.array(..., dtype=simple_dtype)`
+    s_array = np.array([s.astuple()], dtype=simple_dtype)
+    np.testing.assert_array_equal(m.f_simple_vectorized(s_array), [20])
+
+
+def test_register_dtype():
+    with pytest.raises(RuntimeError) as excinfo:
+        m.register_dtype()
+    assert 'dtype is already registered' in str(excinfo.value)
+
+
+@pytest.mark.xfail("env.PYPY")
+def test_str_leak():
+    from sys import getrefcount
+    fmt = "f4"
+    pytest.gc_collect()
+    start = getrefcount(fmt)
+    d = m.dtype_wrapper(fmt)
+    assert d is np.dtype("f4")
+    del d
+    pytest.gc_collect()
+    assert getrefcount(fmt) == start
+
+
+def test_compare_buffer_info():
+    assert all(m.compare_buffer_info())
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_vectorize.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_vectorize.cpp
new file mode 100644
index 0000000..aa8a881
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_vectorize.cpp
@@ -0,0 +1,93 @@
+/*
+    tests/test_numpy_vectorize.cpp -- auto-vectorize functions over NumPy array
+    arguments
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include <pybind11/numpy.h>
+
+double my_func(int x, float y, double z) {
+    py::print("my_func(x:int={}, y:float={:.0f}, z:float={:.0f})"_s.format(x, y, z));
+    return (float) x*y*z;
+}
+
+TEST_SUBMODULE(numpy_vectorize, m) {
+    try { py::module_::import("numpy"); }
+    catch (...) { return; }
+
+    // test_vectorize, test_docs, test_array_collapse
+    // Vectorize all arguments of a function (though non-vector arguments are also allowed)
+    m.def("vectorized_func", py::vectorize(my_func));
+
+    // Vectorize a lambda function with a capture object (e.g. to exclude some arguments from the vectorization)
+    m.def("vectorized_func2",
+        [](py::array_t<int> x, py::array_t<float> y, float z) {
+            return py::vectorize([z](int x, float y) { return my_func(x, y, z); })(x, y);
+        }
+    );
+
+    // Vectorize a complex-valued function
+    m.def("vectorized_func3", py::vectorize(
+        [](std::complex<double> c) { return c * std::complex<double>(2.f); }
+    ));
+
+    // test_type_selection
+    // NumPy function which only accepts specific data types
+    m.def("selective_func", [](py::array_t<int, py::array::c_style>) { return "Int branch taken."; });
+    m.def("selective_func", [](py::array_t<float, py::array::c_style>) { return "Float branch taken."; });
+    m.def("selective_func", [](py::array_t<std::complex<float>, py::array::c_style>) { return "Complex float branch taken."; });
+
+
+    // test_passthrough_arguments
+    // Passthrough test: references and non-pod types should be automatically passed through (in the
+    // function definition below, only `b`, `d`, and `g` are vectorized):
+    struct NonPODClass {
+        NonPODClass(int v) : value{v} {}
+        int value;
+    };
+    py::class_<NonPODClass>(m, "NonPODClass")
+        .def(py::init<int>())
+        .def_readwrite("value", &NonPODClass::value);
+    m.def("vec_passthrough", py::vectorize(
+        [](double *a, double b, py::array_t<double> c, const int &d, int &e, NonPODClass f, const double g) {
+            return *a + b + c.at(0) + d + e + f.value + g;
+        }
+    ));
+
+    // test_method_vectorization
+    struct VectorizeTestClass {
+        VectorizeTestClass(int v) : value{v} {};
+        float method(int x, float y) { return y + (float) (x + value); }
+        int value = 0;
+    };
+    py::class_<VectorizeTestClass> vtc(m, "VectorizeTestClass");
+    vtc .def(py::init<int>())
+        .def_readwrite("value", &VectorizeTestClass::value);
+
+    // Automatic vectorizing of methods
+    vtc.def("method", py::vectorize(&VectorizeTestClass::method));
+
+    // test_trivial_broadcasting
+    // Internal optimization test for whether the input is trivially broadcastable:
+    py::enum_<py::detail::broadcast_trivial>(m, "trivial")
+        .value("f_trivial", py::detail::broadcast_trivial::f_trivial)
+        .value("c_trivial", py::detail::broadcast_trivial::c_trivial)
+        .value("non_trivial", py::detail::broadcast_trivial::non_trivial);
+    m.def("vectorized_is_trivial", [](
+                py::array_t<int, py::array::forcecast> arg1,
+                py::array_t<float, py::array::forcecast> arg2,
+                py::array_t<double, py::array::forcecast> arg3
+                ) {
+        ssize_t ndim;
+        std::vector<ssize_t> shape;
+        std::array<py::buffer_info, 3> buffers {{ arg1.request(), arg2.request(), arg3.request() }};
+        return py::detail::broadcast(buffers, ndim, shape);
+    });
+
+    m.def("add_to", py::vectorize([](NonPODClass& x, int a) { x.value += a; }));
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_vectorize.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_vectorize.py
new file mode 100644
index 0000000..992ff8e
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_numpy_vectorize.py
@@ -0,0 +1,205 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import numpy_vectorize as m
+
+np = pytest.importorskip("numpy")
+
+
+def test_vectorize(capture):
+    assert np.isclose(m.vectorized_func3(np.array(3 + 7j)), [6 + 14j])
+
+    for f in [m.vectorized_func, m.vectorized_func2]:
+        with capture:
+            assert np.isclose(f(1, 2, 3), 6)
+        assert capture == "my_func(x:int=1, y:float=2, z:float=3)"
+        with capture:
+            assert np.isclose(f(np.array(1), np.array(2), 3), 6)
+        assert capture == "my_func(x:int=1, y:float=2, z:float=3)"
+        with capture:
+            assert np.allclose(f(np.array([1, 3]), np.array([2, 4]), 3), [6, 36])
+        assert capture == """
+            my_func(x:int=1, y:float=2, z:float=3)
+            my_func(x:int=3, y:float=4, z:float=3)
+        """
+        with capture:
+            a = np.array([[1, 2], [3, 4]], order='F')
+            b = np.array([[10, 20], [30, 40]], order='F')
+            c = 3
+            result = f(a, b, c)
+            assert np.allclose(result, a * b * c)
+            assert result.flags.f_contiguous
+        # All inputs are F order and full or singletons, so we the result is in col-major order:
+        assert capture == """
+            my_func(x:int=1, y:float=10, z:float=3)
+            my_func(x:int=3, y:float=30, z:float=3)
+            my_func(x:int=2, y:float=20, z:float=3)
+            my_func(x:int=4, y:float=40, z:float=3)
+        """
+        with capture:
+            a, b, c = np.array([[1, 3, 5], [7, 9, 11]]), np.array([[2, 4, 6], [8, 10, 12]]), 3
+            assert np.allclose(f(a, b, c), a * b * c)
+        assert capture == """
+            my_func(x:int=1, y:float=2, z:float=3)
+            my_func(x:int=3, y:float=4, z:float=3)
+            my_func(x:int=5, y:float=6, z:float=3)
+            my_func(x:int=7, y:float=8, z:float=3)
+            my_func(x:int=9, y:float=10, z:float=3)
+            my_func(x:int=11, y:float=12, z:float=3)
+        """
+        with capture:
+            a, b, c = np.array([[1, 2, 3], [4, 5, 6]]), np.array([2, 3, 4]), 2
+            assert np.allclose(f(a, b, c), a * b * c)
+        assert capture == """
+            my_func(x:int=1, y:float=2, z:float=2)
+            my_func(x:int=2, y:float=3, z:float=2)
+            my_func(x:int=3, y:float=4, z:float=2)
+            my_func(x:int=4, y:float=2, z:float=2)
+            my_func(x:int=5, y:float=3, z:float=2)
+            my_func(x:int=6, y:float=4, z:float=2)
+        """
+        with capture:
+            a, b, c = np.array([[1, 2, 3], [4, 5, 6]]), np.array([[2], [3]]), 2
+            assert np.allclose(f(a, b, c), a * b * c)
+        assert capture == """
+            my_func(x:int=1, y:float=2, z:float=2)
+            my_func(x:int=2, y:float=2, z:float=2)
+            my_func(x:int=3, y:float=2, z:float=2)
+            my_func(x:int=4, y:float=3, z:float=2)
+            my_func(x:int=5, y:float=3, z:float=2)
+            my_func(x:int=6, y:float=3, z:float=2)
+        """
+        with capture:
+            a, b, c = np.array([[1, 2, 3], [4, 5, 6]], order='F'), np.array([[2], [3]]), 2
+            assert np.allclose(f(a, b, c), a * b * c)
+        assert capture == """
+            my_func(x:int=1, y:float=2, z:float=2)
+            my_func(x:int=2, y:float=2, z:float=2)
+            my_func(x:int=3, y:float=2, z:float=2)
+            my_func(x:int=4, y:float=3, z:float=2)
+            my_func(x:int=5, y:float=3, z:float=2)
+            my_func(x:int=6, y:float=3, z:float=2)
+        """
+        with capture:
+            a, b, c = np.array([[1, 2, 3], [4, 5, 6]])[::, ::2], np.array([[2], [3]]), 2
+            assert np.allclose(f(a, b, c), a * b * c)
+        assert capture == """
+            my_func(x:int=1, y:float=2, z:float=2)
+            my_func(x:int=3, y:float=2, z:float=2)
+            my_func(x:int=4, y:float=3, z:float=2)
+            my_func(x:int=6, y:float=3, z:float=2)
+        """
+        with capture:
+            a, b, c = np.array([[1, 2, 3], [4, 5, 6]], order='F')[::, ::2], np.array([[2], [3]]), 2
+            assert np.allclose(f(a, b, c), a * b * c)
+        assert capture == """
+            my_func(x:int=1, y:float=2, z:float=2)
+            my_func(x:int=3, y:float=2, z:float=2)
+            my_func(x:int=4, y:float=3, z:float=2)
+            my_func(x:int=6, y:float=3, z:float=2)
+        """
+
+
+def test_type_selection():
+    assert m.selective_func(np.array([1], dtype=np.int32)) == "Int branch taken."
+    assert m.selective_func(np.array([1.0], dtype=np.float32)) == "Float branch taken."
+    assert m.selective_func(np.array([1.0j], dtype=np.complex64)) == "Complex float branch taken."
+
+
+def test_docs(doc):
+    assert doc(m.vectorized_func) == """
+        vectorized_func(arg0: numpy.ndarray[numpy.int32], arg1: numpy.ndarray[numpy.float32], arg2: numpy.ndarray[numpy.float64]) -> object
+    """  # noqa: E501 line too long
+
+
+def test_trivial_broadcasting():
+    trivial, vectorized_is_trivial = m.trivial, m.vectorized_is_trivial
+
+    assert vectorized_is_trivial(1, 2, 3) == trivial.c_trivial
+    assert vectorized_is_trivial(np.array(1), np.array(2), 3) == trivial.c_trivial
+    assert vectorized_is_trivial(np.array([1, 3]), np.array([2, 4]), 3) == trivial.c_trivial
+    assert trivial.c_trivial == vectorized_is_trivial(
+        np.array([[1, 3, 5], [7, 9, 11]]), np.array([[2, 4, 6], [8, 10, 12]]), 3)
+    assert vectorized_is_trivial(
+        np.array([[1, 2, 3], [4, 5, 6]]), np.array([2, 3, 4]), 2) == trivial.non_trivial
+    assert vectorized_is_trivial(
+        np.array([[1, 2, 3], [4, 5, 6]]), np.array([[2], [3]]), 2) == trivial.non_trivial
+    z1 = np.array([[1, 2, 3, 4], [5, 6, 7, 8]], dtype='int32')
+    z2 = np.array(z1, dtype='float32')
+    z3 = np.array(z1, dtype='float64')
+    assert vectorized_is_trivial(z1, z2, z3) == trivial.c_trivial
+    assert vectorized_is_trivial(1, z2, z3) == trivial.c_trivial
+    assert vectorized_is_trivial(z1, 1, z3) == trivial.c_trivial
+    assert vectorized_is_trivial(z1, z2, 1) == trivial.c_trivial
+    assert vectorized_is_trivial(z1[::2, ::2], 1, 1) == trivial.non_trivial
+    assert vectorized_is_trivial(1, 1, z1[::2, ::2]) == trivial.c_trivial
+    assert vectorized_is_trivial(1, 1, z3[::2, ::2]) == trivial.non_trivial
+    assert vectorized_is_trivial(z1, 1, z3[1::4, 1::4]) == trivial.c_trivial
+
+    y1 = np.array(z1, order='F')
+    y2 = np.array(y1)
+    y3 = np.array(y1)
+    assert vectorized_is_trivial(y1, y2, y3) == trivial.f_trivial
+    assert vectorized_is_trivial(y1, 1, 1) == trivial.f_trivial
+    assert vectorized_is_trivial(1, y2, 1) == trivial.f_trivial
+    assert vectorized_is_trivial(1, 1, y3) == trivial.f_trivial
+    assert vectorized_is_trivial(y1, z2, 1) == trivial.non_trivial
+    assert vectorized_is_trivial(z1[1::4, 1::4], y2, 1) == trivial.f_trivial
+    assert vectorized_is_trivial(y1[1::4, 1::4], z2, 1) == trivial.c_trivial
+
+    assert m.vectorized_func(z1, z2, z3).flags.c_contiguous
+    assert m.vectorized_func(y1, y2, y3).flags.f_contiguous
+    assert m.vectorized_func(z1, 1, 1).flags.c_contiguous
+    assert m.vectorized_func(1, y2, 1).flags.f_contiguous
+    assert m.vectorized_func(z1[1::4, 1::4], y2, 1).flags.f_contiguous
+    assert m.vectorized_func(y1[1::4, 1::4], z2, 1).flags.c_contiguous
+
+
+def test_passthrough_arguments(doc):
+    assert doc(m.vec_passthrough) == (
+        "vec_passthrough(" + ", ".join([
+            "arg0: float",
+            "arg1: numpy.ndarray[numpy.float64]",
+            "arg2: numpy.ndarray[numpy.float64]",
+            "arg3: numpy.ndarray[numpy.int32]",
+            "arg4: int",
+            "arg5: m.numpy_vectorize.NonPODClass",
+            "arg6: numpy.ndarray[numpy.float64]"]) + ") -> object")
+
+    b = np.array([[10, 20, 30]], dtype='float64')
+    c = np.array([100, 200])  # NOT a vectorized argument
+    d = np.array([[1000], [2000], [3000]], dtype='int')
+    g = np.array([[1000000, 2000000, 3000000]], dtype='int')  # requires casting
+    assert np.all(
+        m.vec_passthrough(1, b, c, d, 10000, m.NonPODClass(100000), g) ==
+        np.array([[1111111, 2111121, 3111131],
+                  [1112111, 2112121, 3112131],
+                  [1113111, 2113121, 3113131]]))
+
+
+def test_method_vectorization():
+    o = m.VectorizeTestClass(3)
+    x = np.array([1, 2], dtype='int')
+    y = np.array([[10], [20]], dtype='float32')
+    assert np.all(o.method(x, y) == [[14, 15], [24, 25]])
+
+
+def test_array_collapse():
+    assert not isinstance(m.vectorized_func(1, 2, 3), np.ndarray)
+    assert not isinstance(m.vectorized_func(np.array(1), 2, 3), np.ndarray)
+    z = m.vectorized_func([1], 2, 3)
+    assert isinstance(z, np.ndarray)
+    assert z.shape == (1, )
+    z = m.vectorized_func(1, [[[2]]], 3)
+    assert isinstance(z, np.ndarray)
+    assert z.shape == (1, 1, 1)
+
+
+def test_vectorized_noreturn():
+    x = m.NonPODClass(0)
+    assert x.value == 0
+    m.add_to(x, [1, 2, 3, 4])
+    assert x.value == 10
+    m.add_to(x, 1)
+    assert x.value == 11
+    m.add_to(x, [[1, 1], [2, 3]])
+    assert x.value == 18
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_opaque_types.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_opaque_types.cpp
new file mode 100644
index 0000000..5a23431
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_opaque_types.cpp
@@ -0,0 +1,73 @@
+/*
+    tests/test_opaque_types.cpp -- opaque types, passing void pointers
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include <pybind11/stl.h>
+#include <vector>
+
+// IMPORTANT: Disable internal pybind11 translation mechanisms for STL data structures
+//
+// This also deliberately doesn't use the below StringList type alias to test
+// that MAKE_OPAQUE can handle a type containing a `,`.  (The `std::allocator`
+// bit is just the default `std::vector` allocator).
+PYBIND11_MAKE_OPAQUE(std::vector<std::string, std::allocator<std::string>>);
+
+using StringList = std::vector<std::string, std::allocator<std::string>>;
+
+TEST_SUBMODULE(opaque_types, m) {
+    // test_string_list
+    py::class_<StringList>(m, "StringList")
+        .def(py::init<>())
+        .def("pop_back", &StringList::pop_back)
+        /* There are multiple versions of push_back(), etc. Select the right ones. */
+        .def("push_back", (void (StringList::*)(const std::string &)) &StringList::push_back)
+        .def("back", (std::string &(StringList::*)()) &StringList::back)
+        .def("__len__", [](const StringList &v) { return v.size(); })
+        .def("__iter__", [](StringList &v) {
+           return py::make_iterator(v.begin(), v.end());
+        }, py::keep_alive<0, 1>());
+
+    class ClassWithSTLVecProperty {
+    public:
+        StringList stringList;
+    };
+    py::class_<ClassWithSTLVecProperty>(m, "ClassWithSTLVecProperty")
+        .def(py::init<>())
+        .def_readwrite("stringList", &ClassWithSTLVecProperty::stringList);
+
+    m.def("print_opaque_list", [](const StringList &l) {
+        std::string ret = "Opaque list: [";
+        bool first = true;
+        for (auto entry : l) {
+            if (!first)
+                ret += ", ";
+            ret += entry;
+            first = false;
+        }
+        return ret + "]";
+    });
+
+    // test_pointers
+    m.def("return_void_ptr", []() { return (void *) 0x1234; });
+    m.def("get_void_ptr_value", [](void *ptr) { return reinterpret_cast<std::intptr_t>(ptr); });
+    m.def("return_null_str", []() { return (char *) nullptr; });
+    m.def("get_null_str_value", [](char *ptr) { return reinterpret_cast<std::intptr_t>(ptr); });
+
+    m.def("return_unique_ptr", []() -> std::unique_ptr<StringList> {
+        auto *result = new StringList();
+        result->push_back("some value");
+        return std::unique_ptr<StringList>(result);
+    });
+
+    // test unions
+    py::class_<IntFloat>(m, "IntFloat")
+        .def(py::init<>())
+        .def_readwrite("i", &IntFloat::i)
+        .def_readwrite("f", &IntFloat::f);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_opaque_types.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_opaque_types.py
new file mode 100644
index 0000000..ac6a856
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_opaque_types.py
@@ -0,0 +1,55 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import opaque_types as m
+from pybind11_tests import ConstructorStats, UserType
+
+
+def test_string_list():
+    lst = m.StringList()
+    lst.push_back("Element 1")
+    lst.push_back("Element 2")
+    assert m.print_opaque_list(lst) == "Opaque list: [Element 1, Element 2]"
+    assert lst.back() == "Element 2"
+
+    for i, k in enumerate(lst, start=1):
+        assert k == "Element {}".format(i)
+    lst.pop_back()
+    assert m.print_opaque_list(lst) == "Opaque list: [Element 1]"
+
+    cvp = m.ClassWithSTLVecProperty()
+    assert m.print_opaque_list(cvp.stringList) == "Opaque list: []"
+
+    cvp.stringList = lst
+    cvp.stringList.push_back("Element 3")
+    assert m.print_opaque_list(cvp.stringList) == "Opaque list: [Element 1, Element 3]"
+
+
+def test_pointers(msg):
+    living_before = ConstructorStats.get(UserType).alive()
+    assert m.get_void_ptr_value(m.return_void_ptr()) == 0x1234
+    assert m.get_void_ptr_value(UserType())  # Should also work for other C++ types
+    assert ConstructorStats.get(UserType).alive() == living_before
+
+    with pytest.raises(TypeError) as excinfo:
+        m.get_void_ptr_value([1, 2, 3])  # This should not work
+    assert msg(excinfo.value) == """
+        get_void_ptr_value(): incompatible function arguments. The following argument types are supported:
+            1. (arg0: capsule) -> int
+
+        Invoked with: [1, 2, 3]
+    """  # noqa: E501 line too long
+
+    assert m.return_null_str() is None
+    assert m.get_null_str_value(m.return_null_str()) is not None
+
+    ptr = m.return_unique_ptr()
+    assert "StringList" in repr(ptr)
+    assert m.print_opaque_list(ptr) == "Opaque list: [some value]"
+
+
+def test_unions():
+    int_float_union = m.IntFloat()
+    int_float_union.i = 42
+    assert int_float_union.i == 42
+    int_float_union.f = 3.0
+    assert int_float_union.f == 3.0
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_operator_overloading.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_operator_overloading.cpp
new file mode 100644
index 0000000..0a27bfd
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_operator_overloading.cpp
@@ -0,0 +1,226 @@
+/*
+    tests/test_operator_overloading.cpp -- operator overloading
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/operators.h>
+#include <functional>
+
+class Vector2 {
+public:
+    Vector2(float x, float y) : x(x), y(y) { print_created(this, toString()); }
+    Vector2(const Vector2 &v) : x(v.x), y(v.y) { print_copy_created(this); }
+    Vector2(Vector2 &&v) : x(v.x), y(v.y) { print_move_created(this); v.x = v.y = 0; }
+    Vector2 &operator=(const Vector2 &v) { x = v.x; y = v.y; print_copy_assigned(this); return *this; }
+    Vector2 &operator=(Vector2 &&v) { x = v.x; y = v.y; v.x = v.y = 0; print_move_assigned(this); return *this; }
+    ~Vector2() { print_destroyed(this); }
+
+    std::string toString() const { return "[" + std::to_string(x) + ", " + std::to_string(y) + "]"; }
+
+    Vector2 operator-() const { return Vector2(-x, -y); }
+    Vector2 operator+(const Vector2 &v) const { return Vector2(x + v.x, y + v.y); }
+    Vector2 operator-(const Vector2 &v) const { return Vector2(x - v.x, y - v.y); }
+    Vector2 operator-(float value) const { return Vector2(x - value, y - value); }
+    Vector2 operator+(float value) const { return Vector2(x + value, y + value); }
+    Vector2 operator*(float value) const { return Vector2(x * value, y * value); }
+    Vector2 operator/(float value) const { return Vector2(x / value, y / value); }
+    Vector2 operator*(const Vector2 &v) const { return Vector2(x * v.x, y * v.y); }
+    Vector2 operator/(const Vector2 &v) const { return Vector2(x / v.x, y / v.y); }
+    Vector2& operator+=(const Vector2 &v) { x += v.x; y += v.y; return *this; }
+    Vector2& operator-=(const Vector2 &v) { x -= v.x; y -= v.y; return *this; }
+    Vector2& operator*=(float v) { x *= v; y *= v; return *this; }
+    Vector2& operator/=(float v) { x /= v; y /= v; return *this; }
+    Vector2& operator*=(const Vector2 &v) { x *= v.x; y *= v.y; return *this; }
+    Vector2& operator/=(const Vector2 &v) { x /= v.x; y /= v.y; return *this; }
+
+    friend Vector2 operator+(float f, const Vector2 &v) { return Vector2(f + v.x, f + v.y); }
+    friend Vector2 operator-(float f, const Vector2 &v) { return Vector2(f - v.x, f - v.y); }
+    friend Vector2 operator*(float f, const Vector2 &v) { return Vector2(f * v.x, f * v.y); }
+    friend Vector2 operator/(float f, const Vector2 &v) { return Vector2(f / v.x, f / v.y); }
+
+    bool operator==(const Vector2 &v) const {
+        return x == v.x && y == v.y;
+    }
+    bool operator!=(const Vector2 &v) const {
+        return x != v.x || y != v.y;
+    }
+private:
+    float x, y;
+};
+
+class C1 { };
+class C2 { };
+
+int operator+(const C1 &, const C1 &) { return 11; }
+int operator+(const C2 &, const C2 &) { return 22; }
+int operator+(const C2 &, const C1 &) { return 21; }
+int operator+(const C1 &, const C2 &) { return 12; }
+
+// Note: Specializing explicit within `namespace std { ... }` is done due to a
+// bug in GCC<7. If you are supporting compilers later than this, consider
+// specializing `using template<> struct std::hash<...>` in the global
+// namespace instead, per this recommendation:
+// https://en.cppreference.com/w/cpp/language/extending_std#Adding_template_specializations
+namespace std {
+    template<>
+    struct hash<Vector2> {
+        // Not a good hash function, but easy to test
+        size_t operator()(const Vector2 &) { return 4; }
+    };
+} // namespace std
+
+// Not a good abs function, but easy to test.
+std::string abs(const Vector2&) {
+    return "abs(Vector2)";
+}
+
+// MSVC warns about unknown pragmas, and warnings are errors.
+#ifndef _MSC_VER
+  #pragma GCC diagnostic push
+  // clang 7.0.0 and Apple LLVM 10.0.1 introduce `-Wself-assign-overloaded` to
+  // `-Wall`, which is used here for overloading (e.g. `py::self += py::self `).
+  // Here, we suppress the warning using `#pragma diagnostic`.
+  // Taken from: https://github.com/RobotLocomotion/drake/commit/aaf84b46
+  // TODO(eric): This could be resolved using a function / functor (e.g. `py::self()`).
+  #if defined(__APPLE__) && defined(__clang__)
+    #if (__clang_major__ >= 10)
+      #pragma GCC diagnostic ignored "-Wself-assign-overloaded"
+    #endif
+  #elif defined(__clang__)
+    #if (__clang_major__ >= 7)
+      #pragma GCC diagnostic ignored "-Wself-assign-overloaded"
+    #endif
+  #endif
+#endif
+
+TEST_SUBMODULE(operators, m) {
+
+    // test_operator_overloading
+    py::class_<Vector2>(m, "Vector2")
+        .def(py::init<float, float>())
+        .def(py::self + py::self)
+        .def(py::self + float())
+        .def(py::self - py::self)
+        .def(py::self - float())
+        .def(py::self * float())
+        .def(py::self / float())
+        .def(py::self * py::self)
+        .def(py::self / py::self)
+        .def(py::self += py::self)
+        .def(py::self -= py::self)
+        .def(py::self *= float())
+        .def(py::self /= float())
+        .def(py::self *= py::self)
+        .def(py::self /= py::self)
+        .def(float() + py::self)
+        .def(float() - py::self)
+        .def(float() * py::self)
+        .def(float() / py::self)
+        .def(-py::self)
+        .def("__str__", &Vector2::toString)
+        .def("__repr__", &Vector2::toString)
+        .def(py::self == py::self)
+        .def(py::self != py::self)
+        .def(py::hash(py::self))
+        // N.B. See warning about usage of `py::detail::abs(py::self)` in
+        // `operators.h`.
+        .def("__abs__", [](const Vector2& v) { return abs(v); })
+        ;
+
+    m.attr("Vector") = m.attr("Vector2");
+
+    // test_operators_notimplemented
+    // #393: need to return NotSupported to ensure correct arithmetic operator behavior
+    py::class_<C1>(m, "C1")
+        .def(py::init<>())
+        .def(py::self + py::self);
+
+    py::class_<C2>(m, "C2")
+        .def(py::init<>())
+        .def(py::self + py::self)
+        .def("__add__", [](const C2& c2, const C1& c1) { return c2 + c1; })
+        .def("__radd__", [](const C2& c2, const C1& c1) { return c1 + c2; });
+
+    // test_nested
+    // #328: first member in a class can't be used in operators
+    struct NestABase { int value = -2; };
+    py::class_<NestABase>(m, "NestABase")
+        .def(py::init<>())
+        .def_readwrite("value", &NestABase::value);
+
+    struct NestA : NestABase {
+        int value = 3;
+        NestA& operator+=(int i) { value += i; return *this; }
+    };
+    py::class_<NestA>(m, "NestA")
+        .def(py::init<>())
+        .def(py::self += int())
+        .def("as_base", [](NestA &a) -> NestABase& {
+            return (NestABase&) a;
+        }, py::return_value_policy::reference_internal);
+    m.def("get_NestA", [](const NestA &a) { return a.value; });
+
+    struct NestB {
+        NestA a;
+        int value = 4;
+        NestB& operator-=(int i) { value -= i; return *this; }
+    };
+    py::class_<NestB>(m, "NestB")
+        .def(py::init<>())
+        .def(py::self -= int())
+        .def_readwrite("a", &NestB::a);
+    m.def("get_NestB", [](const NestB &b) { return b.value; });
+
+    struct NestC {
+        NestB b;
+        int value = 5;
+        NestC& operator*=(int i) { value *= i; return *this; }
+    };
+    py::class_<NestC>(m, "NestC")
+        .def(py::init<>())
+        .def(py::self *= int())
+        .def_readwrite("b", &NestC::b);
+    m.def("get_NestC", [](const NestC &c) { return c.value; });
+
+
+    // test_overriding_eq_reset_hash
+    // #2191 Overriding __eq__ should set __hash__ to None
+    struct Comparable {
+        int value;
+        bool operator==(const Comparable& rhs) const {return value == rhs.value;}
+    };
+
+    struct Hashable : Comparable {
+        explicit Hashable(int value): Comparable{value}{};
+        size_t hash() const { return static_cast<size_t>(value); }
+    };
+
+    struct Hashable2 : Hashable {
+        using Hashable::Hashable;
+    };
+
+    py::class_<Comparable>(m, "Comparable")
+        .def(py::init<int>())
+        .def(py::self == py::self);
+
+    py::class_<Hashable>(m, "Hashable")
+        .def(py::init<int>())
+        .def(py::self == py::self)
+        .def("__hash__", &Hashable::hash);
+
+    // define __hash__ before __eq__
+    py::class_<Hashable2>(m, "Hashable2")
+        .def("__hash__", &Hashable::hash)
+        .def(py::init<int>())
+        .def(py::self == py::self);
+}
+
+#ifndef _MSC_VER
+  #pragma GCC diagnostic pop
+#endif
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_operator_overloading.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_operator_overloading.py
new file mode 100644
index 0000000..39e3aee
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_operator_overloading.py
@@ -0,0 +1,145 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import operators as m
+from pybind11_tests import ConstructorStats
+
+
+def test_operator_overloading():
+    v1 = m.Vector2(1, 2)
+    v2 = m.Vector(3, -1)
+    v3 = m.Vector2(1, 2)  # Same value as v1, but different instance.
+    assert v1 is not v3
+
+    assert str(v1) == "[1.000000, 2.000000]"
+    assert str(v2) == "[3.000000, -1.000000]"
+
+    assert str(-v2) == "[-3.000000, 1.000000]"
+
+    assert str(v1 + v2) == "[4.000000, 1.000000]"
+    assert str(v1 - v2) == "[-2.000000, 3.000000]"
+    assert str(v1 - 8) == "[-7.000000, -6.000000]"
+    assert str(v1 + 8) == "[9.000000, 10.000000]"
+    assert str(v1 * 8) == "[8.000000, 16.000000]"
+    assert str(v1 / 8) == "[0.125000, 0.250000]"
+    assert str(8 - v1) == "[7.000000, 6.000000]"
+    assert str(8 + v1) == "[9.000000, 10.000000]"
+    assert str(8 * v1) == "[8.000000, 16.000000]"
+    assert str(8 / v1) == "[8.000000, 4.000000]"
+    assert str(v1 * v2) == "[3.000000, -2.000000]"
+    assert str(v2 / v1) == "[3.000000, -0.500000]"
+
+    assert v1 == v3
+    assert v1 != v2
+    assert hash(v1) == 4
+    # TODO(eric.cousineau): Make this work.
+    # assert abs(v1) == "abs(Vector2)"
+
+    v1 += 2 * v2
+    assert str(v1) == "[7.000000, 0.000000]"
+    v1 -= v2
+    assert str(v1) == "[4.000000, 1.000000]"
+    v1 *= 2
+    assert str(v1) == "[8.000000, 2.000000]"
+    v1 /= 16
+    assert str(v1) == "[0.500000, 0.125000]"
+    v1 *= v2
+    assert str(v1) == "[1.500000, -0.125000]"
+    v2 /= v1
+    assert str(v2) == "[2.000000, 8.000000]"
+
+    cstats = ConstructorStats.get(m.Vector2)
+    assert cstats.alive() == 3
+    del v1
+    assert cstats.alive() == 2
+    del v2
+    assert cstats.alive() == 1
+    del v3
+    assert cstats.alive() == 0
+    assert cstats.values() == [
+        '[1.000000, 2.000000]',
+        '[3.000000, -1.000000]',
+        '[1.000000, 2.000000]',
+        '[-3.000000, 1.000000]',
+        '[4.000000, 1.000000]',
+        '[-2.000000, 3.000000]',
+        '[-7.000000, -6.000000]',
+        '[9.000000, 10.000000]',
+        '[8.000000, 16.000000]',
+        '[0.125000, 0.250000]',
+        '[7.000000, 6.000000]',
+        '[9.000000, 10.000000]',
+        '[8.000000, 16.000000]',
+        '[8.000000, 4.000000]',
+        '[3.000000, -2.000000]',
+        '[3.000000, -0.500000]',
+        '[6.000000, -2.000000]',
+    ]
+    assert cstats.default_constructions == 0
+    assert cstats.copy_constructions == 0
+    assert cstats.move_constructions >= 10
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+
+def test_operators_notimplemented():
+    """#393: need to return NotSupported to ensure correct arithmetic operator behavior"""
+
+    c1, c2 = m.C1(), m.C2()
+    assert c1 + c1 == 11
+    assert c2 + c2 == 22
+    assert c2 + c1 == 21
+    assert c1 + c2 == 12
+
+
+def test_nested():
+    """#328: first member in a class can't be used in operators"""
+
+    a = m.NestA()
+    b = m.NestB()
+    c = m.NestC()
+
+    a += 10
+    assert m.get_NestA(a) == 13
+    b.a += 100
+    assert m.get_NestA(b.a) == 103
+    c.b.a += 1000
+    assert m.get_NestA(c.b.a) == 1003
+    b -= 1
+    assert m.get_NestB(b) == 3
+    c.b -= 3
+    assert m.get_NestB(c.b) == 1
+    c *= 7
+    assert m.get_NestC(c) == 35
+
+    abase = a.as_base()
+    assert abase.value == -2
+    a.as_base().value += 44
+    assert abase.value == 42
+    assert c.b.a.as_base().value == -2
+    c.b.a.as_base().value += 44
+    assert c.b.a.as_base().value == 42
+
+    del c
+    pytest.gc_collect()
+    del a  # Shouldn't delete while abase is still alive
+    pytest.gc_collect()
+
+    assert abase.value == 42
+    del abase, b
+    pytest.gc_collect()
+
+
+def test_overriding_eq_reset_hash():
+
+    assert m.Comparable(15) is not m.Comparable(15)
+    assert m.Comparable(15) == m.Comparable(15)
+
+    with pytest.raises(TypeError):
+        hash(m.Comparable(15))  # TypeError: unhashable type: 'm.Comparable'
+
+    for hashable in (m.Hashable, m.Hashable2):
+        assert hashable(15) is not hashable(15)
+        assert hashable(15) == hashable(15)
+
+        assert hash(hashable(15)) == 15
+        assert hash(hashable(15)) == hash(hashable(15))
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pickling.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pickling.cpp
new file mode 100644
index 0000000..9dc63bd
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pickling.cpp
@@ -0,0 +1,130 @@
+/*
+    tests/test_pickling.cpp -- pickle support
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+TEST_SUBMODULE(pickling, m) {
+    // test_roundtrip
+    class Pickleable {
+    public:
+        Pickleable(const std::string &value) : m_value(value) { }
+        const std::string &value() const { return m_value; }
+
+        void setExtra1(int extra1) { m_extra1 = extra1; }
+        void setExtra2(int extra2) { m_extra2 = extra2; }
+        int extra1() const { return m_extra1; }
+        int extra2() const { return m_extra2; }
+    private:
+        std::string m_value;
+        int m_extra1 = 0;
+        int m_extra2 = 0;
+    };
+
+    class PickleableNew : public Pickleable {
+    public:
+        using Pickleable::Pickleable;
+    };
+
+    py::class_<Pickleable>(m, "Pickleable")
+        .def(py::init<std::string>())
+        .def("value", &Pickleable::value)
+        .def("extra1", &Pickleable::extra1)
+        .def("extra2", &Pickleable::extra2)
+        .def("setExtra1", &Pickleable::setExtra1)
+        .def("setExtra2", &Pickleable::setExtra2)
+        // For details on the methods below, refer to
+        // http://docs.python.org/3/library/pickle.html#pickling-class-instances
+        .def("__getstate__", [](const Pickleable &p) {
+            /* Return a tuple that fully encodes the state of the object */
+            return py::make_tuple(p.value(), p.extra1(), p.extra2());
+        })
+        .def("__setstate__", [](Pickleable &p, py::tuple t) {
+            if (t.size() != 3)
+                throw std::runtime_error("Invalid state!");
+            /* Invoke the constructor (need to use in-place version) */
+            new (&p) Pickleable(t[0].cast<std::string>());
+
+            /* Assign any additional state */
+            p.setExtra1(t[1].cast<int>());
+            p.setExtra2(t[2].cast<int>());
+        });
+
+    py::class_<PickleableNew, Pickleable>(m, "PickleableNew")
+        .def(py::init<std::string>())
+        .def(py::pickle(
+            [](const PickleableNew &p) {
+                return py::make_tuple(p.value(), p.extra1(), p.extra2());
+            },
+            [](py::tuple t) {
+                if (t.size() != 3)
+                    throw std::runtime_error("Invalid state!");
+                auto p = PickleableNew(t[0].cast<std::string>());
+
+                p.setExtra1(t[1].cast<int>());
+                p.setExtra2(t[2].cast<int>());
+                return p;
+            }
+        ));
+
+#if !defined(PYPY_VERSION)
+    // test_roundtrip_with_dict
+    class PickleableWithDict {
+    public:
+        PickleableWithDict(const std::string &value) : value(value) { }
+
+        std::string value;
+        int extra;
+    };
+
+    class PickleableWithDictNew : public PickleableWithDict {
+    public:
+        using PickleableWithDict::PickleableWithDict;
+    };
+
+    py::class_<PickleableWithDict>(m, "PickleableWithDict", py::dynamic_attr())
+        .def(py::init<std::string>())
+        .def_readwrite("value", &PickleableWithDict::value)
+        .def_readwrite("extra", &PickleableWithDict::extra)
+        .def("__getstate__", [](py::object self) {
+            /* Also include __dict__ in state */
+            return py::make_tuple(self.attr("value"), self.attr("extra"), self.attr("__dict__"));
+        })
+        .def("__setstate__", [](py::object self, py::tuple t) {
+            if (t.size() != 3)
+                throw std::runtime_error("Invalid state!");
+            /* Cast and construct */
+            auto& p = self.cast<PickleableWithDict&>();
+            new (&p) PickleableWithDict(t[0].cast<std::string>());
+
+            /* Assign C++ state */
+            p.extra = t[1].cast<int>();
+
+            /* Assign Python state */
+            self.attr("__dict__") = t[2];
+        });
+
+    py::class_<PickleableWithDictNew, PickleableWithDict>(m, "PickleableWithDictNew")
+        .def(py::init<std::string>())
+        .def(py::pickle(
+            [](py::object self) {
+                return py::make_tuple(self.attr("value"), self.attr("extra"), self.attr("__dict__"));
+            },
+            [](const py::tuple &t) {
+                if (t.size() != 3)
+                    throw std::runtime_error("Invalid state!");
+
+                auto cpp_state = PickleableWithDictNew(t[0].cast<std::string>());
+                cpp_state.extra = t[1].cast<int>();
+
+                auto py_state = t[2].cast<py::dict>();
+                return std::make_pair(cpp_state, py_state);
+            }
+        ));
+#endif
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pickling.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pickling.py
new file mode 100644
index 0000000..9aee705
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pickling.py
@@ -0,0 +1,46 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import pickling as m
+
+try:
+    import cPickle as pickle  # Use cPickle on Python 2.7
+except ImportError:
+    import pickle
+
+
+@pytest.mark.parametrize("cls_name", ["Pickleable", "PickleableNew"])
+def test_roundtrip(cls_name):
+    cls = getattr(m, cls_name)
+    p = cls("test_value")
+    p.setExtra1(15)
+    p.setExtra2(48)
+
+    data = pickle.dumps(p, 2)  # Must use pickle protocol >= 2
+    p2 = pickle.loads(data)
+    assert p2.value() == p.value()
+    assert p2.extra1() == p.extra1()
+    assert p2.extra2() == p.extra2()
+
+
+@pytest.mark.xfail("env.PYPY")
+@pytest.mark.parametrize("cls_name", ["PickleableWithDict", "PickleableWithDictNew"])
+def test_roundtrip_with_dict(cls_name):
+    cls = getattr(m, cls_name)
+    p = cls("test_value")
+    p.extra = 15
+    p.dynamic = "Attribute"
+
+    data = pickle.dumps(p, pickle.HIGHEST_PROTOCOL)
+    p2 = pickle.loads(data)
+    assert p2.value == p.value
+    assert p2.extra == p.extra
+    assert p2.dynamic == p.dynamic
+
+
+def test_enum_pickle():
+    from pybind11_tests import enums as e
+    data = pickle.dumps(e.EOne, 2)
+    assert e.EOne == pickle.loads(data)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pytypes.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pytypes.cpp
new file mode 100644
index 0000000..45fd871
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pytypes.cpp
@@ -0,0 +1,410 @@
+/*
+    tests/test_pytypes.cpp -- Python type casters
+
+    Copyright (c) 2017 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+
+TEST_SUBMODULE(pytypes, m) {
+    // test_int
+    m.def("get_int", []{return py::int_(0);});
+    // test_iterator
+    m.def("get_iterator", []{return py::iterator();});
+    // test_iterable
+    m.def("get_iterable", []{return py::iterable();});
+    // test_list
+    m.def("get_list", []() {
+        py::list list;
+        list.append("value");
+        py::print("Entry at position 0:", list[0]);
+        list[0] = py::str("overwritten");
+        list.insert(0, "inserted-0");
+        list.insert(2, "inserted-2");
+        return list;
+    });
+    m.def("print_list", [](py::list list) {
+        int index = 0;
+        for (auto item : list)
+            py::print("list item {}: {}"_s.format(index++, item));
+    });
+    // test_none
+    m.def("get_none", []{return py::none();});
+    m.def("print_none", [](py::none none) {
+        py::print("none: {}"_s.format(none));
+    });
+
+    // test_set
+    m.def("get_set", []() {
+        py::set set;
+        set.add(py::str("key1"));
+        set.add("key2");
+        set.add(std::string("key3"));
+        return set;
+    });
+    m.def("print_set", [](py::set set) {
+        for (auto item : set)
+            py::print("key:", item);
+    });
+    m.def("set_contains", [](py::set set, py::object key) {
+        return set.contains(key);
+    });
+    m.def("set_contains", [](py::set set, const char* key) {
+        return set.contains(key);
+    });
+
+    // test_dict
+    m.def("get_dict", []() { return py::dict("key"_a="value"); });
+    m.def("print_dict", [](py::dict dict) {
+        for (auto item : dict)
+            py::print("key: {}, value={}"_s.format(item.first, item.second));
+    });
+    m.def("dict_keyword_constructor", []() {
+        auto d1 = py::dict("x"_a=1, "y"_a=2);
+        auto d2 = py::dict("z"_a=3, **d1);
+        return d2;
+    });
+    m.def("dict_contains", [](py::dict dict, py::object val) {
+        return dict.contains(val);
+    });
+    m.def("dict_contains", [](py::dict dict, const char* val) {
+        return dict.contains(val);
+    });
+
+    // test_str
+    m.def("str_from_string", []() { return py::str(std::string("baz")); });
+    m.def("str_from_bytes", []() { return py::str(py::bytes("boo", 3)); });
+    m.def("str_from_object", [](const py::object& obj) { return py::str(obj); });
+    m.def("repr_from_object", [](const py::object& obj) { return py::repr(obj); });
+    m.def("str_from_handle", [](py::handle h) { return py::str(h); });
+
+    m.def("str_format", []() {
+        auto s1 = "{} + {} = {}"_s.format(1, 2, 3);
+        auto s2 = "{a} + {b} = {c}"_s.format("a"_a=1, "b"_a=2, "c"_a=3);
+        return py::make_tuple(s1, s2);
+    });
+
+    // test_bytes
+    m.def("bytes_from_string", []() { return py::bytes(std::string("foo")); });
+    m.def("bytes_from_str", []() { return py::bytes(py::str("bar", 3)); });
+
+    // test_capsule
+    m.def("return_capsule_with_destructor", []() {
+        py::print("creating capsule");
+        return py::capsule([]() {
+            py::print("destructing capsule");
+        });
+    });
+
+    m.def("return_capsule_with_destructor_2", []() {
+        py::print("creating capsule");
+        return py::capsule((void *) 1234, [](void *ptr) {
+            py::print("destructing capsule: {}"_s.format((size_t) ptr));
+        });
+    });
+
+    m.def("return_capsule_with_name_and_destructor", []() {
+        auto capsule = py::capsule((void *) 12345, "pointer type description", [](PyObject *ptr) {
+            if (ptr) {
+                auto name = PyCapsule_GetName(ptr);
+                py::print("destructing capsule ({}, '{}')"_s.format(
+                    (size_t) PyCapsule_GetPointer(ptr, name), name
+                ));
+            }
+        });
+
+        capsule.set_pointer((void *) 1234);
+
+        // Using get_pointer<T>()
+        void* contents1 = static_cast<void*>(capsule);
+        void* contents2 = capsule.get_pointer();
+        void* contents3 = capsule.get_pointer<void>();
+
+        auto result1 = reinterpret_cast<size_t>(contents1);
+        auto result2 = reinterpret_cast<size_t>(contents2);
+        auto result3 = reinterpret_cast<size_t>(contents3);
+
+        py::print("created capsule ({}, '{}')"_s.format(result1 & result2 & result3, capsule.name()));
+        return capsule;
+    });
+
+    // test_accessors
+    m.def("accessor_api", [](py::object o) {
+        auto d = py::dict();
+
+        d["basic_attr"] = o.attr("basic_attr");
+
+        auto l = py::list();
+        for (auto item : o.attr("begin_end")) {
+            l.append(item);
+        }
+        d["begin_end"] = l;
+
+        d["operator[object]"] = o.attr("d")["operator[object]"_s];
+        d["operator[char *]"] = o.attr("d")["operator[char *]"];
+
+        d["attr(object)"] = o.attr("sub").attr("attr_obj");
+        d["attr(char *)"] = o.attr("sub").attr("attr_char");
+        try {
+            o.attr("sub").attr("missing").ptr();
+        } catch (const py::error_already_set &) {
+            d["missing_attr_ptr"] = "raised"_s;
+        }
+        try {
+            o.attr("missing").attr("doesn't matter");
+        } catch (const py::error_already_set &) {
+            d["missing_attr_chain"] = "raised"_s;
+        }
+
+        d["is_none"] = o.attr("basic_attr").is_none();
+
+        d["operator()"] = o.attr("func")(1);
+        d["operator*"] = o.attr("func")(*o.attr("begin_end"));
+
+        // Test implicit conversion
+        py::list implicit_list = o.attr("begin_end");
+        d["implicit_list"] = implicit_list;
+        py::dict implicit_dict = o.attr("__dict__");
+        d["implicit_dict"] = implicit_dict;
+
+        return d;
+    });
+
+    m.def("tuple_accessor", [](py::tuple existing_t) {
+        try {
+            existing_t[0] = 1;
+        } catch (const py::error_already_set &) {
+            // --> Python system error
+            // Only new tuples (refcount == 1) are mutable
+            auto new_t = py::tuple(3);
+            for (size_t i = 0; i < new_t.size(); ++i) {
+                new_t[i] = i;
+            }
+            return new_t;
+        }
+        return py::tuple();
+    });
+
+    m.def("accessor_assignment", []() {
+        auto l = py::list(1);
+        l[0] = 0;
+
+        auto d = py::dict();
+        d["get"] = l[0];
+        auto var = l[0];
+        d["deferred_get"] = var;
+        l[0] = 1;
+        d["set"] = l[0];
+        var = 99; // this assignment should not overwrite l[0]
+        d["deferred_set"] = l[0];
+        d["var"] = var;
+
+        return d;
+    });
+
+    // test_constructors
+    m.def("default_constructors", []() {
+        return py::dict(
+            "bytes"_a=py::bytes(),
+            "str"_a=py::str(),
+            "bool"_a=py::bool_(),
+            "int"_a=py::int_(),
+            "float"_a=py::float_(),
+            "tuple"_a=py::tuple(),
+            "list"_a=py::list(),
+            "dict"_a=py::dict(),
+            "set"_a=py::set()
+        );
+    });
+
+    m.def("converting_constructors", [](py::dict d) {
+        return py::dict(
+            "bytes"_a=py::bytes(d["bytes"]),
+            "str"_a=py::str(d["str"]),
+            "bool"_a=py::bool_(d["bool"]),
+            "int"_a=py::int_(d["int"]),
+            "float"_a=py::float_(d["float"]),
+            "tuple"_a=py::tuple(d["tuple"]),
+            "list"_a=py::list(d["list"]),
+            "dict"_a=py::dict(d["dict"]),
+            "set"_a=py::set(d["set"]),
+            "memoryview"_a=py::memoryview(d["memoryview"])
+        );
+    });
+
+    m.def("cast_functions", [](py::dict d) {
+        // When converting between Python types, obj.cast<T>() should be the same as T(obj)
+        return py::dict(
+            "bytes"_a=d["bytes"].cast<py::bytes>(),
+            "str"_a=d["str"].cast<py::str>(),
+            "bool"_a=d["bool"].cast<py::bool_>(),
+            "int"_a=d["int"].cast<py::int_>(),
+            "float"_a=d["float"].cast<py::float_>(),
+            "tuple"_a=d["tuple"].cast<py::tuple>(),
+            "list"_a=d["list"].cast<py::list>(),
+            "dict"_a=d["dict"].cast<py::dict>(),
+            "set"_a=d["set"].cast<py::set>(),
+            "memoryview"_a=d["memoryview"].cast<py::memoryview>()
+        );
+    });
+
+    m.def("convert_to_pybind11_str", [](py::object o) { return py::str(o); });
+
+    m.def("nonconverting_constructor", [](std::string type, py::object value) -> py::object {
+        if (type == "bytes") {
+            return py::bytes(value);
+        }
+        else if (type == "none") {
+            return py::none(value);
+        }
+        else if (type == "ellipsis") {
+            return py::ellipsis(value);
+        }
+        throw std::runtime_error("Invalid type");
+    });
+
+    m.def("get_implicit_casting", []() {
+        py::dict d;
+        d["char*_i1"] = "abc";
+        const char *c2 = "abc";
+        d["char*_i2"] = c2;
+        d["char*_e"] = py::cast(c2);
+        d["char*_p"] = py::str(c2);
+
+        d["int_i1"] = 42;
+        int i = 42;
+        d["int_i2"] = i;
+        i++;
+        d["int_e"] = py::cast(i);
+        i++;
+        d["int_p"] = py::int_(i);
+
+        d["str_i1"] = std::string("str");
+        std::string s2("str1");
+        d["str_i2"] = s2;
+        s2[3] = '2';
+        d["str_e"] = py::cast(s2);
+        s2[3] = '3';
+        d["str_p"] = py::str(s2);
+
+        py::list l(2);
+        l[0] = 3;
+        l[1] = py::cast(6);
+        l.append(9);
+        l.append(py::cast(12));
+        l.append(py::int_(15));
+
+        return py::dict(
+            "d"_a=d,
+            "l"_a=l
+        );
+    });
+
+    // test_print
+    m.def("print_function", []() {
+        py::print("Hello, World!");
+        py::print(1, 2.0, "three", true, std::string("-- multiple args"));
+        auto args = py::make_tuple("and", "a", "custom", "separator");
+        py::print("*args", *args, "sep"_a="-");
+        py::print("no new line here", "end"_a=" -- ");
+        py::print("next print");
+
+        auto py_stderr = py::module_::import("sys").attr("stderr");
+        py::print("this goes to stderr", "file"_a=py_stderr);
+
+        py::print("flush", "flush"_a=true);
+
+        py::print("{a} + {b} = {c}"_s.format("a"_a="py::print", "b"_a="str.format", "c"_a="this"));
+    });
+
+    m.def("print_failure", []() { py::print(42, UnregisteredType()); });
+
+    m.def("hash_function", [](py::object obj) { return py::hash(obj); });
+
+    m.def("test_number_protocol", [](py::object a, py::object b) {
+        py::list l;
+        l.append(a.equal(b));
+        l.append(a.not_equal(b));
+        l.append(a < b);
+        l.append(a <= b);
+        l.append(a > b);
+        l.append(a >= b);
+        l.append(a + b);
+        l.append(a - b);
+        l.append(a * b);
+        l.append(a / b);
+        l.append(a | b);
+        l.append(a & b);
+        l.append(a ^ b);
+        l.append(a >> b);
+        l.append(a << b);
+        return l;
+    });
+
+    m.def("test_list_slicing", [](py::list a) {
+        return a[py::slice(0, -1, 2)];
+    });
+
+    // See #2361
+    m.def("issue2361_str_implicit_copy_none", []() {
+        py::str is_this_none = py::none();
+        return is_this_none;
+    });
+    m.def("issue2361_dict_implicit_copy_none", []() {
+        py::dict is_this_none = py::none();
+        return is_this_none;
+    });
+
+    m.def("test_memoryview_object", [](py::buffer b) {
+        return py::memoryview(b);
+    });
+
+    m.def("test_memoryview_buffer_info", [](py::buffer b) {
+        return py::memoryview(b.request());
+    });
+
+    m.def("test_memoryview_from_buffer", [](bool is_unsigned) {
+        static const int16_t si16[] = { 3, 1, 4, 1, 5 };
+        static const uint16_t ui16[] = { 2, 7, 1, 8 };
+        if (is_unsigned)
+            return py::memoryview::from_buffer(
+                ui16, { 4 }, { sizeof(uint16_t) });
+        else
+            return py::memoryview::from_buffer(
+                si16, { 5 }, { sizeof(int16_t) });
+    });
+
+    m.def("test_memoryview_from_buffer_nativeformat", []() {
+        static const char* format = "@i";
+        static const int32_t arr[] = { 4, 7, 5 };
+        return py::memoryview::from_buffer(
+            arr, sizeof(int32_t), format, { 3 }, { sizeof(int32_t) });
+    });
+
+    m.def("test_memoryview_from_buffer_empty_shape", []() {
+        static const char* buf = "";
+        return py::memoryview::from_buffer(buf, 1, "B", { }, { });
+    });
+
+    m.def("test_memoryview_from_buffer_invalid_strides", []() {
+        static const char* buf = "\x02\x03\x04";
+        return py::memoryview::from_buffer(buf, 1, "B", { 3 }, { });
+    });
+
+    m.def("test_memoryview_from_buffer_nullptr", []() {
+        return py::memoryview::from_buffer(
+            static_cast<void*>(nullptr), 1, "B", { }, { });
+    });
+
+#if PY_MAJOR_VERSION >= 3
+    m.def("test_memoryview_from_memory", []() {
+        const char* buf = "\xff\xe1\xab\x37";
+        return py::memoryview::from_memory(
+            buf, static_cast<ssize_t>(strlen(buf)));
+    });
+#endif
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pytypes.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pytypes.py
new file mode 100644
index 0000000..ab51b55
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_pytypes.py
@@ -0,0 +1,426 @@
+# -*- coding: utf-8 -*-
+from __future__ import division
+import pytest
+import sys
+
+import env  # noqa: F401
+
+from pybind11_tests import pytypes as m
+from pybind11_tests import debug_enabled
+
+
+def test_int(doc):
+    assert doc(m.get_int) == "get_int() -> int"
+
+
+def test_iterator(doc):
+    assert doc(m.get_iterator) == "get_iterator() -> Iterator"
+
+
+def test_iterable(doc):
+    assert doc(m.get_iterable) == "get_iterable() -> Iterable"
+
+
+def test_list(capture, doc):
+    with capture:
+        lst = m.get_list()
+        assert lst == ["inserted-0", "overwritten", "inserted-2"]
+
+        lst.append("value2")
+        m.print_list(lst)
+    assert capture.unordered == """
+        Entry at position 0: value
+        list item 0: inserted-0
+        list item 1: overwritten
+        list item 2: inserted-2
+        list item 3: value2
+    """
+
+    assert doc(m.get_list) == "get_list() -> list"
+    assert doc(m.print_list) == "print_list(arg0: list) -> None"
+
+
+def test_none(capture, doc):
+    assert doc(m.get_none) == "get_none() -> None"
+    assert doc(m.print_none) == "print_none(arg0: None) -> None"
+
+
+def test_set(capture, doc):
+    s = m.get_set()
+    assert s == {"key1", "key2", "key3"}
+
+    with capture:
+        s.add("key4")
+        m.print_set(s)
+    assert capture.unordered == """
+        key: key1
+        key: key2
+        key: key3
+        key: key4
+    """
+
+    assert not m.set_contains(set([]), 42)
+    assert m.set_contains({42}, 42)
+    assert m.set_contains({"foo"}, "foo")
+
+    assert doc(m.get_list) == "get_list() -> list"
+    assert doc(m.print_list) == "print_list(arg0: list) -> None"
+
+
+def test_dict(capture, doc):
+    d = m.get_dict()
+    assert d == {"key": "value"}
+
+    with capture:
+        d["key2"] = "value2"
+        m.print_dict(d)
+    assert capture.unordered == """
+        key: key, value=value
+        key: key2, value=value2
+    """
+
+    assert not m.dict_contains({}, 42)
+    assert m.dict_contains({42: None}, 42)
+    assert m.dict_contains({"foo": None}, "foo")
+
+    assert doc(m.get_dict) == "get_dict() -> dict"
+    assert doc(m.print_dict) == "print_dict(arg0: dict) -> None"
+
+    assert m.dict_keyword_constructor() == {"x": 1, "y": 2, "z": 3}
+
+
+def test_str(doc):
+    assert m.str_from_string().encode().decode() == "baz"
+    assert m.str_from_bytes().encode().decode() == "boo"
+
+    assert doc(m.str_from_bytes) == "str_from_bytes() -> str"
+
+    class A(object):
+        def __str__(self):
+            return "this is a str"
+
+        def __repr__(self):
+            return "this is a repr"
+
+    assert m.str_from_object(A()) == "this is a str"
+    assert m.repr_from_object(A()) == "this is a repr"
+    assert m.str_from_handle(A()) == "this is a str"
+
+    s1, s2 = m.str_format()
+    assert s1 == "1 + 2 = 3"
+    assert s1 == s2
+
+    malformed_utf8 = b"\x80"
+    assert m.str_from_object(malformed_utf8) is malformed_utf8  # To be fixed; see #2380
+    if env.PY2:
+        # with pytest.raises(UnicodeDecodeError):
+        #     m.str_from_object(malformed_utf8)
+        with pytest.raises(UnicodeDecodeError):
+            m.str_from_handle(malformed_utf8)
+    else:
+        # assert m.str_from_object(malformed_utf8) == "b'\\x80'"
+        assert m.str_from_handle(malformed_utf8) == "b'\\x80'"
+
+
+def test_bytes(doc):
+    assert m.bytes_from_string().decode() == "foo"
+    assert m.bytes_from_str().decode() == "bar"
+
+    assert doc(m.bytes_from_str) == "bytes_from_str() -> {}".format(
+        "str" if env.PY2 else "bytes"
+    )
+
+
+def test_capsule(capture):
+    pytest.gc_collect()
+    with capture:
+        a = m.return_capsule_with_destructor()
+        del a
+        pytest.gc_collect()
+    assert capture.unordered == """
+        creating capsule
+        destructing capsule
+    """
+
+    with capture:
+        a = m.return_capsule_with_destructor_2()
+        del a
+        pytest.gc_collect()
+    assert capture.unordered == """
+        creating capsule
+        destructing capsule: 1234
+    """
+
+    with capture:
+        a = m.return_capsule_with_name_and_destructor()
+        del a
+        pytest.gc_collect()
+    assert capture.unordered == """
+        created capsule (1234, 'pointer type description')
+        destructing capsule (1234, 'pointer type description')
+    """
+
+
+def test_accessors():
+    class SubTestObject:
+        attr_obj = 1
+        attr_char = 2
+
+    class TestObject:
+        basic_attr = 1
+        begin_end = [1, 2, 3]
+        d = {"operator[object]": 1, "operator[char *]": 2}
+        sub = SubTestObject()
+
+        def func(self, x, *args):
+            return self.basic_attr + x + sum(args)
+
+    d = m.accessor_api(TestObject())
+    assert d["basic_attr"] == 1
+    assert d["begin_end"] == [1, 2, 3]
+    assert d["operator[object]"] == 1
+    assert d["operator[char *]"] == 2
+    assert d["attr(object)"] == 1
+    assert d["attr(char *)"] == 2
+    assert d["missing_attr_ptr"] == "raised"
+    assert d["missing_attr_chain"] == "raised"
+    assert d["is_none"] is False
+    assert d["operator()"] == 2
+    assert d["operator*"] == 7
+    assert d["implicit_list"] == [1, 2, 3]
+    assert all(x in TestObject.__dict__ for x in d["implicit_dict"])
+
+    assert m.tuple_accessor(tuple()) == (0, 1, 2)
+
+    d = m.accessor_assignment()
+    assert d["get"] == 0
+    assert d["deferred_get"] == 0
+    assert d["set"] == 1
+    assert d["deferred_set"] == 1
+    assert d["var"] == 99
+
+
+def test_constructors():
+    """C++ default and converting constructors are equivalent to type calls in Python"""
+    types = [bytes, str, bool, int, float, tuple, list, dict, set]
+    expected = {t.__name__: t() for t in types}
+    if env.PY2:
+        # Note that bytes.__name__ == 'str' in Python 2.
+        # pybind11::str is unicode even under Python 2.
+        expected["bytes"] = bytes()
+        expected["str"] = unicode()  # noqa: F821
+    assert m.default_constructors() == expected
+
+    data = {
+        bytes: b'41',  # Currently no supported or working conversions.
+        str: 42,
+        bool: "Not empty",
+        int: "42",
+        float: "+1e3",
+        tuple: range(3),
+        list: range(3),
+        dict: [("two", 2), ("one", 1), ("three", 3)],
+        set: [4, 4, 5, 6, 6, 6],
+        memoryview: b'abc'
+    }
+    inputs = {k.__name__: v for k, v in data.items()}
+    expected = {k.__name__: k(v) for k, v in data.items()}
+    if env.PY2:  # Similar to the above. See comments above.
+        inputs["bytes"] = b'41'
+        inputs["str"] = 42
+        expected["bytes"] = b'41'
+        expected["str"] = u"42"
+
+    assert m.converting_constructors(inputs) == expected
+    assert m.cast_functions(inputs) == expected
+
+    # Converting constructors and cast functions should just reference rather
+    # than copy when no conversion is needed:
+    noconv1 = m.converting_constructors(expected)
+    for k in noconv1:
+        assert noconv1[k] is expected[k]
+
+    noconv2 = m.cast_functions(expected)
+    for k in noconv2:
+        assert noconv2[k] is expected[k]
+
+
+def test_non_converting_constructors():
+    non_converting_test_cases = [
+        ("bytes", range(10)),
+        ("none", 42),
+        ("ellipsis", 42),
+    ]
+    for t, v in non_converting_test_cases:
+        with pytest.raises(TypeError) as excinfo:
+            m.nonconverting_constructor(t, v)
+        expected_error = "Object of type '{}' is not an instance of '{}'".format(
+            type(v).__name__, t)
+        assert str(excinfo.value) == expected_error
+
+
+def test_pybind11_str_raw_str():
+    # specifically to exercise pybind11::str::raw_str
+    cvt = m.convert_to_pybind11_str
+    assert cvt(u"Str") == u"Str"
+    assert cvt(b'Bytes') == u"Bytes" if env.PY2 else "b'Bytes'"
+    assert cvt(None) == u"None"
+    assert cvt(False) == u"False"
+    assert cvt(True) == u"True"
+    assert cvt(42) == u"42"
+    assert cvt(2**65) == u"36893488147419103232"
+    assert cvt(-1.50) == u"-1.5"
+    assert cvt(()) == u"()"
+    assert cvt((18,)) == u"(18,)"
+    assert cvt([]) == u"[]"
+    assert cvt([28]) == u"[28]"
+    assert cvt({}) == u"{}"
+    assert cvt({3: 4}) == u"{3: 4}"
+    assert cvt(set()) == u"set([])" if env.PY2 else "set()"
+    assert cvt({3, 3}) == u"set([3])" if env.PY2 else "{3}"
+
+    valid_orig = u"DZ"
+    valid_utf8 = valid_orig.encode("utf-8")
+    valid_cvt = cvt(valid_utf8)
+    assert type(valid_cvt) == bytes  # Probably surprising.
+    assert valid_cvt == b'\xc7\xb1'
+
+    malformed_utf8 = b'\x80'
+    malformed_cvt = cvt(malformed_utf8)
+    assert type(malformed_cvt) == bytes  # Probably surprising.
+    assert malformed_cvt == b'\x80'
+
+
+def test_implicit_casting():
+    """Tests implicit casting when assigning or appending to dicts and lists."""
+    z = m.get_implicit_casting()
+    assert z['d'] == {
+        'char*_i1': 'abc', 'char*_i2': 'abc', 'char*_e': 'abc', 'char*_p': 'abc',
+        'str_i1': 'str', 'str_i2': 'str1', 'str_e': 'str2', 'str_p': 'str3',
+        'int_i1': 42, 'int_i2': 42, 'int_e': 43, 'int_p': 44
+    }
+    assert z['l'] == [3, 6, 9, 12, 15]
+
+
+def test_print(capture):
+    with capture:
+        m.print_function()
+    assert capture == """
+        Hello, World!
+        1 2.0 three True -- multiple args
+        *args-and-a-custom-separator
+        no new line here -- next print
+        flush
+        py::print + str.format = this
+    """
+    assert capture.stderr == "this goes to stderr"
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.print_failure()
+    assert str(excinfo.value) == "make_tuple(): unable to convert " + (
+        "argument of type 'UnregisteredType' to Python object"
+        if debug_enabled else
+        "arguments to Python object (compile in debug mode for details)"
+    )
+
+
+def test_hash():
+    class Hashable(object):
+        def __init__(self, value):
+            self.value = value
+
+        def __hash__(self):
+            return self.value
+
+    class Unhashable(object):
+        __hash__ = None
+
+    assert m.hash_function(Hashable(42)) == 42
+    with pytest.raises(TypeError):
+        m.hash_function(Unhashable())
+
+
+def test_number_protocol():
+    for a, b in [(1, 1), (3, 5)]:
+        li = [a == b, a != b, a < b, a <= b, a > b, a >= b, a + b,
+              a - b, a * b, a / b, a | b, a & b, a ^ b, a >> b, a << b]
+        assert m.test_number_protocol(a, b) == li
+
+
+def test_list_slicing():
+    li = list(range(100))
+    assert li[::2] == m.test_list_slicing(li)
+
+
+def test_issue2361():
+    # See issue #2361
+    assert m.issue2361_str_implicit_copy_none() == "None"
+    with pytest.raises(TypeError) as excinfo:
+        assert m.issue2361_dict_implicit_copy_none()
+    assert "'NoneType' object is not iterable" in str(excinfo.value)
+
+
+@pytest.mark.parametrize('method, args, fmt, expected_view', [
+    (m.test_memoryview_object, (b'red',), 'B', b'red'),
+    (m.test_memoryview_buffer_info, (b'green',), 'B', b'green'),
+    (m.test_memoryview_from_buffer, (False,), 'h', [3, 1, 4, 1, 5]),
+    (m.test_memoryview_from_buffer, (True,), 'H', [2, 7, 1, 8]),
+    (m.test_memoryview_from_buffer_nativeformat, (), '@i', [4, 7, 5]),
+])
+def test_memoryview(method, args, fmt, expected_view):
+    view = method(*args)
+    assert isinstance(view, memoryview)
+    assert view.format == fmt
+    if isinstance(expected_view, bytes) or not env.PY2:
+        view_as_list = list(view)
+    else:
+        # Using max to pick non-zero byte (big-endian vs little-endian).
+        view_as_list = [max([ord(c) for c in s]) for s in view]
+    assert view_as_list == list(expected_view)
+
+
+@pytest.mark.xfail("env.PYPY", reason="getrefcount is not available")
+@pytest.mark.parametrize('method', [
+    m.test_memoryview_object,
+    m.test_memoryview_buffer_info,
+])
+def test_memoryview_refcount(method):
+    buf = b'\x0a\x0b\x0c\x0d'
+    ref_before = sys.getrefcount(buf)
+    view = method(buf)
+    ref_after = sys.getrefcount(buf)
+    assert ref_before < ref_after
+    assert list(view) == list(buf)
+
+
+def test_memoryview_from_buffer_empty_shape():
+    view = m.test_memoryview_from_buffer_empty_shape()
+    assert isinstance(view, memoryview)
+    assert view.format == 'B'
+    if env.PY2:
+        # Python 2 behavior is weird, but Python 3 (the future) is fine.
+        # PyPy3 has <memoryview, while CPython 2 has <memory
+        assert bytes(view).startswith(b'<memory')
+    else:
+        assert bytes(view) == b''
+
+
+def test_test_memoryview_from_buffer_invalid_strides():
+    with pytest.raises(RuntimeError):
+        m.test_memoryview_from_buffer_invalid_strides()
+
+
+def test_test_memoryview_from_buffer_nullptr():
+    if env.PY2:
+        m.test_memoryview_from_buffer_nullptr()
+    else:
+        with pytest.raises(ValueError):
+            m.test_memoryview_from_buffer_nullptr()
+
+
+@pytest.mark.skipif("env.PY2")
+def test_memoryview_from_memory():
+    view = m.test_memoryview_from_memory()
+    assert isinstance(view, memoryview)
+    assert view.format == 'B'
+    assert bytes(view) == b'\xff\xe1\xab\x37'
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_sequences_and_iterators.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_sequences_and_iterators.cpp
new file mode 100644
index 0000000..545dc45
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_sequences_and_iterators.cpp
@@ -0,0 +1,358 @@
+/*
+    tests/test_sequences_and_iterators.cpp -- supporting Pythons' sequence protocol, iterators,
+    etc.
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/operators.h>
+#include <pybind11/stl.h>
+
+#include <algorithm>
+
+template<typename T>
+class NonZeroIterator {
+    const T* ptr_;
+public:
+    NonZeroIterator(const T* ptr) : ptr_(ptr) {}
+    const T& operator*() const { return *ptr_; }
+    NonZeroIterator& operator++() { ++ptr_; return *this; }
+};
+
+class NonZeroSentinel {};
+
+template<typename A, typename B>
+bool operator==(const NonZeroIterator<std::pair<A, B>>& it, const NonZeroSentinel&) {
+    return !(*it).first || !(*it).second;
+}
+
+template <typename PythonType>
+py::list test_random_access_iterator(PythonType x) {
+    if (x.size() < 5)
+        throw py::value_error("Please provide at least 5 elements for testing.");
+
+    auto checks = py::list();
+    auto assert_equal = [&checks](py::handle a, py::handle b) {
+        auto result = PyObject_RichCompareBool(a.ptr(), b.ptr(), Py_EQ);
+        if (result == -1) { throw py::error_already_set(); }
+        checks.append(result != 0);
+    };
+
+    auto it = x.begin();
+    assert_equal(x[0], *it);
+    assert_equal(x[0], it[0]);
+    assert_equal(x[1], it[1]);
+
+    assert_equal(x[1], *(++it));
+    assert_equal(x[1], *(it++));
+    assert_equal(x[2], *it);
+    assert_equal(x[3], *(it += 1));
+    assert_equal(x[2], *(--it));
+    assert_equal(x[2], *(it--));
+    assert_equal(x[1], *it);
+    assert_equal(x[0], *(it -= 1));
+
+    assert_equal(it->attr("real"), x[0].attr("real"));
+    assert_equal((it + 1)->attr("real"), x[1].attr("real"));
+
+    assert_equal(x[1], *(it + 1));
+    assert_equal(x[1], *(1 + it));
+    it += 3;
+    assert_equal(x[1], *(it - 2));
+
+    checks.append(static_cast<std::size_t>(x.end() - x.begin()) == x.size());
+    checks.append((x.begin() + static_cast<std::ptrdiff_t>(x.size())) == x.end());
+    checks.append(x.begin() < x.end());
+
+    return checks;
+}
+
+TEST_SUBMODULE(sequences_and_iterators, m) {
+    // test_sliceable
+    class Sliceable{
+    public:
+      Sliceable(int n): size(n) {}
+      int start,stop,step;
+      int size;
+    };
+    py::class_<Sliceable>(m,"Sliceable")
+        .def(py::init<int>())
+        .def("__getitem__",[](const Sliceable &s, py::slice slice) {
+          ssize_t start, stop, step, slicelength;
+          if (!slice.compute(s.size, &start, &stop, &step, &slicelength))
+              throw py::error_already_set();
+          int istart = static_cast<int>(start);
+          int istop =  static_cast<int>(stop);
+          int istep =  static_cast<int>(step);
+          return std::make_tuple(istart,istop,istep);
+        })
+        ;
+
+    // test_sequence
+    class Sequence {
+    public:
+        Sequence(size_t size) : m_size(size) {
+            print_created(this, "of size", m_size);
+            m_data = new float[size];
+            memset(m_data, 0, sizeof(float) * size);
+        }
+        Sequence(const std::vector<float> &value) : m_size(value.size()) {
+            print_created(this, "of size", m_size, "from std::vector");
+            m_data = new float[m_size];
+            memcpy(m_data, &value[0], sizeof(float) * m_size);
+        }
+        Sequence(const Sequence &s) : m_size(s.m_size) {
+            print_copy_created(this);
+            m_data = new float[m_size];
+            memcpy(m_data, s.m_data, sizeof(float)*m_size);
+        }
+        Sequence(Sequence &&s) : m_size(s.m_size), m_data(s.m_data) {
+            print_move_created(this);
+            s.m_size = 0;
+            s.m_data = nullptr;
+        }
+
+        ~Sequence() { print_destroyed(this); delete[] m_data; }
+
+        Sequence &operator=(const Sequence &s) {
+            if (&s != this) {
+                delete[] m_data;
+                m_size = s.m_size;
+                m_data = new float[m_size];
+                memcpy(m_data, s.m_data, sizeof(float)*m_size);
+            }
+            print_copy_assigned(this);
+            return *this;
+        }
+
+        Sequence &operator=(Sequence &&s) {
+            if (&s != this) {
+                delete[] m_data;
+                m_size = s.m_size;
+                m_data = s.m_data;
+                s.m_size = 0;
+                s.m_data = nullptr;
+            }
+            print_move_assigned(this);
+            return *this;
+        }
+
+        bool operator==(const Sequence &s) const {
+            if (m_size != s.size()) return false;
+            for (size_t i = 0; i < m_size; ++i)
+                if (m_data[i] != s[i])
+                    return false;
+            return true;
+        }
+        bool operator!=(const Sequence &s) const { return !operator==(s); }
+
+        float operator[](size_t index) const { return m_data[index]; }
+        float &operator[](size_t index) { return m_data[index]; }
+
+        bool contains(float v) const {
+            for (size_t i = 0; i < m_size; ++i)
+                if (v == m_data[i])
+                    return true;
+            return false;
+        }
+
+        Sequence reversed() const {
+            Sequence result(m_size);
+            for (size_t i = 0; i < m_size; ++i)
+                result[m_size - i - 1] = m_data[i];
+            return result;
+        }
+
+        size_t size() const { return m_size; }
+
+        const float *begin() const { return m_data; }
+        const float *end() const { return m_data+m_size; }
+
+    private:
+        size_t m_size;
+        float *m_data;
+    };
+    py::class_<Sequence>(m, "Sequence")
+        .def(py::init<size_t>())
+        .def(py::init<const std::vector<float>&>())
+        /// Bare bones interface
+        .def("__getitem__", [](const Sequence &s, size_t i) {
+            if (i >= s.size()) throw py::index_error();
+            return s[i];
+        })
+        .def("__setitem__", [](Sequence &s, size_t i, float v) {
+            if (i >= s.size()) throw py::index_error();
+            s[i] = v;
+        })
+        .def("__len__", &Sequence::size)
+        /// Optional sequence protocol operations
+        .def("__iter__", [](const Sequence &s) { return py::make_iterator(s.begin(), s.end()); },
+                         py::keep_alive<0, 1>() /* Essential: keep object alive while iterator exists */)
+        .def("__contains__", [](const Sequence &s, float v) { return s.contains(v); })
+        .def("__reversed__", [](const Sequence &s) -> Sequence { return s.reversed(); })
+        /// Slicing protocol (optional)
+        .def("__getitem__", [](const Sequence &s, py::slice slice) -> Sequence* {
+            size_t start, stop, step, slicelength;
+            if (!slice.compute(s.size(), &start, &stop, &step, &slicelength))
+                throw py::error_already_set();
+            auto *seq = new Sequence(slicelength);
+            for (size_t i = 0; i < slicelength; ++i) {
+                (*seq)[i] = s[start]; start += step;
+            }
+            return seq;
+        })
+        .def("__setitem__", [](Sequence &s, py::slice slice, const Sequence &value) {
+            size_t start, stop, step, slicelength;
+            if (!slice.compute(s.size(), &start, &stop, &step, &slicelength))
+                throw py::error_already_set();
+            if (slicelength != value.size())
+                throw std::runtime_error("Left and right hand size of slice assignment have different sizes!");
+            for (size_t i = 0; i < slicelength; ++i) {
+                s[start] = value[i]; start += step;
+            }
+        })
+        /// Comparisons
+        .def(py::self == py::self)
+        .def(py::self != py::self)
+        // Could also define py::self + py::self for concatenation, etc.
+        ;
+
+    // test_map_iterator
+    // Interface of a map-like object that isn't (directly) an unordered_map, but provides some basic
+    // map-like functionality.
+    class StringMap {
+    public:
+        StringMap() = default;
+        StringMap(std::unordered_map<std::string, std::string> init)
+            : map(std::move(init)) {}
+
+        void set(std::string key, std::string val) { map[key] = val; }
+        std::string get(std::string key) const { return map.at(key); }
+        size_t size() const { return map.size(); }
+    private:
+        std::unordered_map<std::string, std::string> map;
+    public:
+        decltype(map.cbegin()) begin() const { return map.cbegin(); }
+        decltype(map.cend()) end() const { return map.cend(); }
+    };
+    py::class_<StringMap>(m, "StringMap")
+        .def(py::init<>())
+        .def(py::init<std::unordered_map<std::string, std::string>>())
+        .def("__getitem__", [](const StringMap &map, std::string key) {
+                try { return map.get(key); }
+                catch (const std::out_of_range&) {
+                    throw py::key_error("key '" + key + "' does not exist");
+                }
+        })
+        .def("__setitem__", &StringMap::set)
+        .def("__len__", &StringMap::size)
+        .def("__iter__", [](const StringMap &map) { return py::make_key_iterator(map.begin(), map.end()); },
+                py::keep_alive<0, 1>())
+        .def("items", [](const StringMap &map) { return py::make_iterator(map.begin(), map.end()); },
+                py::keep_alive<0, 1>())
+        ;
+
+    // test_generalized_iterators
+    class IntPairs {
+    public:
+        IntPairs(std::vector<std::pair<int, int>> data) : data_(std::move(data)) {}
+        const std::pair<int, int>* begin() const { return data_.data(); }
+    private:
+        std::vector<std::pair<int, int>> data_;
+    };
+    py::class_<IntPairs>(m, "IntPairs")
+        .def(py::init<std::vector<std::pair<int, int>>>())
+        .def("nonzero", [](const IntPairs& s) {
+                return py::make_iterator(NonZeroIterator<std::pair<int, int>>(s.begin()), NonZeroSentinel());
+        }, py::keep_alive<0, 1>())
+        .def("nonzero_keys", [](const IntPairs& s) {
+            return py::make_key_iterator(NonZeroIterator<std::pair<int, int>>(s.begin()), NonZeroSentinel());
+        }, py::keep_alive<0, 1>())
+        ;
+
+
+#if 0
+    // Obsolete: special data structure for exposing custom iterator types to python
+    // kept here for illustrative purposes because there might be some use cases which
+    // are not covered by the much simpler py::make_iterator
+
+    struct PySequenceIterator {
+        PySequenceIterator(const Sequence &seq, py::object ref) : seq(seq), ref(ref) { }
+
+        float next() {
+            if (index == seq.size())
+                throw py::stop_iteration();
+            return seq[index++];
+        }
+
+        const Sequence &seq;
+        py::object ref; // keep a reference
+        size_t index = 0;
+    };
+
+    py::class_<PySequenceIterator>(seq, "Iterator")
+        .def("__iter__", [](PySequenceIterator &it) -> PySequenceIterator& { return it; })
+        .def("__next__", &PySequenceIterator::next);
+
+    On the actual Sequence object, the iterator would be constructed as follows:
+    .def("__iter__", [](py::object s) { return PySequenceIterator(s.cast<const Sequence &>(), s); })
+#endif
+
+    // test_python_iterator_in_cpp
+    m.def("object_to_list", [](py::object o) {
+        auto l = py::list();
+        for (auto item : o) {
+            l.append(item);
+        }
+        return l;
+    });
+
+    m.def("iterator_to_list", [](py::iterator it) {
+        auto l = py::list();
+        while (it != py::iterator::sentinel()) {
+            l.append(*it);
+            ++it;
+        }
+        return l;
+    });
+
+    // test_sequence_length: check that Python sequences can be converted to py::sequence.
+    m.def("sequence_length", [](py::sequence seq) { return seq.size(); });
+
+    // Make sure that py::iterator works with std algorithms
+    m.def("count_none", [](py::object o) {
+        return std::count_if(o.begin(), o.end(), [](py::handle h) { return h.is_none(); });
+    });
+
+    m.def("find_none", [](py::object o) {
+        auto it = std::find_if(o.begin(), o.end(), [](py::handle h) { return h.is_none(); });
+        return it->is_none();
+    });
+
+    m.def("count_nonzeros", [](py::dict d) {
+       return std::count_if(d.begin(), d.end(), [](std::pair<py::handle, py::handle> p) {
+           return p.second.cast<int>() != 0;
+       });
+    });
+
+    m.def("tuple_iterator", &test_random_access_iterator<py::tuple>);
+    m.def("list_iterator", &test_random_access_iterator<py::list>);
+    m.def("sequence_iterator", &test_random_access_iterator<py::sequence>);
+
+    // test_iterator_passthrough
+    // #181: iterator passthrough did not compile
+    m.def("iterator_passthrough", [](py::iterator s) -> py::iterator {
+        return py::make_iterator(std::begin(s), std::end(s));
+    });
+
+    // test_iterator_rvp
+    // #388: Can't make iterators via make_iterator() with different r/v policies
+    static std::vector<int> list = { 1, 2, 3 };
+    m.def("make_iterator_1", []() { return py::make_iterator<py::return_value_policy::copy>(list); });
+    m.def("make_iterator_2", []() { return py::make_iterator<py::return_value_policy::automatic>(list); });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_sequences_and_iterators.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_sequences_and_iterators.py
new file mode 100644
index 0000000..8f6c0c4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_sequences_and_iterators.py
@@ -0,0 +1,191 @@
+# -*- coding: utf-8 -*-
+import pytest
+from pybind11_tests import sequences_and_iterators as m
+from pybind11_tests import ConstructorStats
+
+
+def isclose(a, b, rel_tol=1e-05, abs_tol=0.0):
+    """Like math.isclose() from Python 3.5"""
+    return abs(a - b) <= max(rel_tol * max(abs(a), abs(b)), abs_tol)
+
+
+def allclose(a_list, b_list, rel_tol=1e-05, abs_tol=0.0):
+    return all(isclose(a, b, rel_tol=rel_tol, abs_tol=abs_tol) for a, b in zip(a_list, b_list))
+
+
+def test_generalized_iterators():
+    assert list(m.IntPairs([(1, 2), (3, 4), (0, 5)]).nonzero()) == [(1, 2), (3, 4)]
+    assert list(m.IntPairs([(1, 2), (2, 0), (0, 3), (4, 5)]).nonzero()) == [(1, 2)]
+    assert list(m.IntPairs([(0, 3), (1, 2), (3, 4)]).nonzero()) == []
+
+    assert list(m.IntPairs([(1, 2), (3, 4), (0, 5)]).nonzero_keys()) == [1, 3]
+    assert list(m.IntPairs([(1, 2), (2, 0), (0, 3), (4, 5)]).nonzero_keys()) == [1]
+    assert list(m.IntPairs([(0, 3), (1, 2), (3, 4)]).nonzero_keys()) == []
+
+    # __next__ must continue to raise StopIteration
+    it = m.IntPairs([(0, 0)]).nonzero()
+    for _ in range(3):
+        with pytest.raises(StopIteration):
+            next(it)
+
+    it = m.IntPairs([(0, 0)]).nonzero_keys()
+    for _ in range(3):
+        with pytest.raises(StopIteration):
+            next(it)
+
+
+def test_sliceable():
+    sliceable = m.Sliceable(100)
+    assert sliceable[::] == (0, 100, 1)
+    assert sliceable[10::] == (10, 100, 1)
+    assert sliceable[:10:] == (0, 10, 1)
+    assert sliceable[::10] == (0, 100, 10)
+    assert sliceable[-10::] == (90, 100, 1)
+    assert sliceable[:-10:] == (0, 90, 1)
+    assert sliceable[::-10] == (99, -1, -10)
+    assert sliceable[50:60:1] == (50, 60, 1)
+    assert sliceable[50:60:-1] == (50, 60, -1)
+
+
+def test_sequence():
+    cstats = ConstructorStats.get(m.Sequence)
+
+    s = m.Sequence(5)
+    assert cstats.values() == ['of size', '5']
+
+    assert "Sequence" in repr(s)
+    assert len(s) == 5
+    assert s[0] == 0 and s[3] == 0
+    assert 12.34 not in s
+    s[0], s[3] = 12.34, 56.78
+    assert 12.34 in s
+    assert isclose(s[0], 12.34) and isclose(s[3], 56.78)
+
+    rev = reversed(s)
+    assert cstats.values() == ['of size', '5']
+
+    rev2 = s[::-1]
+    assert cstats.values() == ['of size', '5']
+
+    it = iter(m.Sequence(0))
+    for _ in range(3):  # __next__ must continue to raise StopIteration
+        with pytest.raises(StopIteration):
+            next(it)
+    assert cstats.values() == ['of size', '0']
+
+    expected = [0, 56.78, 0, 0, 12.34]
+    assert allclose(rev, expected)
+    assert allclose(rev2, expected)
+    assert rev == rev2
+
+    rev[0::2] = m.Sequence([2.0, 2.0, 2.0])
+    assert cstats.values() == ['of size', '3', 'from std::vector']
+
+    assert allclose(rev, [2, 56.78, 2, 0, 2])
+
+    assert cstats.alive() == 4
+    del it
+    assert cstats.alive() == 3
+    del s
+    assert cstats.alive() == 2
+    del rev
+    assert cstats.alive() == 1
+    del rev2
+    assert cstats.alive() == 0
+
+    assert cstats.values() == []
+    assert cstats.default_constructions == 0
+    assert cstats.copy_constructions == 0
+    assert cstats.move_constructions >= 1
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+
+def test_sequence_length():
+    """#2076: Exception raised by len(arg) should be propagated """
+    class BadLen(RuntimeError):
+        pass
+
+    class SequenceLike():
+        def __getitem__(self, i):
+            return None
+
+        def __len__(self):
+            raise BadLen()
+
+    with pytest.raises(BadLen):
+        m.sequence_length(SequenceLike())
+
+    assert m.sequence_length([1, 2, 3]) == 3
+    assert m.sequence_length("hello") == 5
+
+
+def test_map_iterator():
+    sm = m.StringMap({'hi': 'bye', 'black': 'white'})
+    assert sm['hi'] == 'bye'
+    assert len(sm) == 2
+    assert sm['black'] == 'white'
+
+    with pytest.raises(KeyError):
+        assert sm['orange']
+    sm['orange'] = 'banana'
+    assert sm['orange'] == 'banana'
+
+    expected = {'hi': 'bye', 'black': 'white', 'orange': 'banana'}
+    for k in sm:
+        assert sm[k] == expected[k]
+    for k, v in sm.items():
+        assert v == expected[k]
+
+    it = iter(m.StringMap({}))
+    for _ in range(3):  # __next__ must continue to raise StopIteration
+        with pytest.raises(StopIteration):
+            next(it)
+
+
+def test_python_iterator_in_cpp():
+    t = (1, 2, 3)
+    assert m.object_to_list(t) == [1, 2, 3]
+    assert m.object_to_list(iter(t)) == [1, 2, 3]
+    assert m.iterator_to_list(iter(t)) == [1, 2, 3]
+
+    with pytest.raises(TypeError) as excinfo:
+        m.object_to_list(1)
+    assert "object is not iterable" in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        m.iterator_to_list(1)
+    assert "incompatible function arguments" in str(excinfo.value)
+
+    def bad_next_call():
+        raise RuntimeError("py::iterator::advance() should propagate errors")
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.iterator_to_list(iter(bad_next_call, None))
+    assert str(excinfo.value) == "py::iterator::advance() should propagate errors"
+
+    lst = [1, None, 0, None]
+    assert m.count_none(lst) == 2
+    assert m.find_none(lst) is True
+    assert m.count_nonzeros({"a": 0, "b": 1, "c": 2}) == 2
+
+    r = range(5)
+    assert all(m.tuple_iterator(tuple(r)))
+    assert all(m.list_iterator(list(r)))
+    assert all(m.sequence_iterator(r))
+
+
+def test_iterator_passthrough():
+    """#181: iterator passthrough did not compile"""
+    from pybind11_tests.sequences_and_iterators import iterator_passthrough
+
+    assert list(iterator_passthrough(iter([3, 5, 7, 9, 11, 13, 15]))) == [3, 5, 7, 9, 11, 13, 15]
+
+
+def test_iterator_rvp():
+    """#388: Can't make iterators via make_iterator() with different r/v policies """
+    import pybind11_tests.sequences_and_iterators as m
+
+    assert list(m.make_iterator_1()) == [1, 2, 3]
+    assert list(m.make_iterator_2()) == [1, 2, 3]
+    assert not isinstance(m.make_iterator_1(), type(m.make_iterator_2()))
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_smart_ptr.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_smart_ptr.cpp
new file mode 100644
index 0000000..60c2e69
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_smart_ptr.cpp
@@ -0,0 +1,370 @@
+/*
+    tests/test_smart_ptr.cpp -- binding classes with custom reference counting,
+    implicit conversions between types
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#if defined(_MSC_VER) && _MSC_VER < 1910
+#  pragma warning(disable: 4702) // unreachable code in system header
+#endif
+
+#include "pybind11_tests.h"
+#include "object.h"
+
+// Make pybind aware of the ref-counted wrapper type (s):
+
+// ref<T> is a wrapper for 'Object' which uses intrusive reference counting
+// It is always possible to construct a ref<T> from an Object* pointer without
+// possible inconsistencies, hence the 'true' argument at the end.
+PYBIND11_DECLARE_HOLDER_TYPE(T, ref<T>, true);
+// Make pybind11 aware of the non-standard getter member function
+namespace pybind11 { namespace detail {
+    template <typename T>
+    struct holder_helper<ref<T>> {
+        static const T *get(const ref<T> &p) { return p.get_ptr(); }
+    };
+} // namespace detail
+} // namespace pybind11
+
+// The following is not required anymore for std::shared_ptr, but it should compile without error:
+PYBIND11_DECLARE_HOLDER_TYPE(T, std::shared_ptr<T>);
+
+// This is just a wrapper around unique_ptr, but with extra fields to deliberately bloat up the
+// holder size to trigger the non-simple-layout internal instance layout for single inheritance with
+// large holder type:
+template <typename T> class huge_unique_ptr {
+    std::unique_ptr<T> ptr;
+    uint64_t padding[10];
+public:
+    huge_unique_ptr(T *p) : ptr(p) {};
+    T *get() { return ptr.get(); }
+};
+PYBIND11_DECLARE_HOLDER_TYPE(T, huge_unique_ptr<T>);
+
+// Simple custom holder that works like unique_ptr
+template <typename T>
+class custom_unique_ptr {
+    std::unique_ptr<T> impl;
+public:
+    custom_unique_ptr(T* p) : impl(p) { }
+    T* get() const { return impl.get(); }
+    T* release_ptr() { return impl.release(); }
+};
+PYBIND11_DECLARE_HOLDER_TYPE(T, custom_unique_ptr<T>);
+
+// Simple custom holder that works like shared_ptr and has operator& overload
+// To obtain address of an instance of this holder pybind should use std::addressof
+// Attempt to get address via operator& may leads to segmentation fault
+template <typename T>
+class shared_ptr_with_addressof_operator {
+    std::shared_ptr<T> impl;
+public:
+    shared_ptr_with_addressof_operator( ) = default;
+    shared_ptr_with_addressof_operator(T* p) : impl(p) { }
+    T* get() const { return impl.get(); }
+    T** operator&() { throw std::logic_error("Call of overloaded operator& is not expected"); }
+};
+PYBIND11_DECLARE_HOLDER_TYPE(T, shared_ptr_with_addressof_operator<T>);
+
+// Simple custom holder that works like unique_ptr and has operator& overload
+// To obtain address of an instance of this holder pybind should use std::addressof
+// Attempt to get address via operator& may leads to segmentation fault
+template <typename T>
+class unique_ptr_with_addressof_operator {
+    std::unique_ptr<T> impl;
+public:
+    unique_ptr_with_addressof_operator() = default;
+    unique_ptr_with_addressof_operator(T* p) : impl(p) { }
+    T* get() const { return impl.get(); }
+    T* release_ptr() { return impl.release(); }
+    T** operator&() { throw std::logic_error("Call of overloaded operator& is not expected"); }
+};
+PYBIND11_DECLARE_HOLDER_TYPE(T, unique_ptr_with_addressof_operator<T>);
+
+
+TEST_SUBMODULE(smart_ptr, m) {
+
+    // test_smart_ptr
+
+    // Object implementation in `object.h`
+    py::class_<Object, ref<Object>> obj(m, "Object");
+    obj.def("getRefCount", &Object::getRefCount);
+
+    // Custom object with builtin reference counting (see 'object.h' for the implementation)
+    class MyObject1 : public Object {
+    public:
+        MyObject1(int value) : value(value) { print_created(this, toString()); }
+        std::string toString() const override { return "MyObject1[" + std::to_string(value) + "]"; }
+    protected:
+        ~MyObject1() override { print_destroyed(this); }
+    private:
+        int value;
+    };
+    py::class_<MyObject1, ref<MyObject1>>(m, "MyObject1", obj)
+        .def(py::init<int>());
+    py::implicitly_convertible<py::int_, MyObject1>();
+
+    m.def("make_object_1", []() -> Object * { return new MyObject1(1); });
+    m.def("make_object_2", []() -> ref<Object> { return new MyObject1(2); });
+    m.def("make_myobject1_1", []() -> MyObject1 * { return new MyObject1(4); });
+    m.def("make_myobject1_2", []() -> ref<MyObject1> { return new MyObject1(5); });
+    m.def("print_object_1", [](const Object *obj) { py::print(obj->toString()); });
+    m.def("print_object_2", [](ref<Object> obj) { py::print(obj->toString()); });
+    m.def("print_object_3", [](const ref<Object> &obj) { py::print(obj->toString()); });
+    m.def("print_object_4", [](const ref<Object> *obj) { py::print((*obj)->toString()); });
+    m.def("print_myobject1_1", [](const MyObject1 *obj) { py::print(obj->toString()); });
+    m.def("print_myobject1_2", [](ref<MyObject1> obj) { py::print(obj->toString()); });
+    m.def("print_myobject1_3", [](const ref<MyObject1> &obj) { py::print(obj->toString()); });
+    m.def("print_myobject1_4", [](const ref<MyObject1> *obj) { py::print((*obj)->toString()); });
+
+    // Expose constructor stats for the ref type
+    m.def("cstats_ref", &ConstructorStats::get<ref_tag>);
+
+
+    // Object managed by a std::shared_ptr<>
+    class MyObject2 {
+    public:
+        MyObject2(const MyObject2 &) = default;
+        MyObject2(int value) : value(value) { print_created(this, toString()); }
+        std::string toString() const { return "MyObject2[" + std::to_string(value) + "]"; }
+        virtual ~MyObject2() { print_destroyed(this); }
+    private:
+        int value;
+    };
+    py::class_<MyObject2, std::shared_ptr<MyObject2>>(m, "MyObject2")
+        .def(py::init<int>());
+    m.def("make_myobject2_1", []() { return new MyObject2(6); });
+    m.def("make_myobject2_2", []() { return std::make_shared<MyObject2>(7); });
+    m.def("print_myobject2_1", [](const MyObject2 *obj) { py::print(obj->toString()); });
+    m.def("print_myobject2_2", [](std::shared_ptr<MyObject2> obj) { py::print(obj->toString()); });
+    m.def("print_myobject2_3", [](const std::shared_ptr<MyObject2> &obj) { py::print(obj->toString()); });
+    m.def("print_myobject2_4", [](const std::shared_ptr<MyObject2> *obj) { py::print((*obj)->toString()); });
+
+    // Object managed by a std::shared_ptr<>, additionally derives from std::enable_shared_from_this<>
+    class MyObject3 : public std::enable_shared_from_this<MyObject3> {
+    public:
+        MyObject3(const MyObject3 &) = default;
+        MyObject3(int value) : value(value) { print_created(this, toString()); }
+        std::string toString() const { return "MyObject3[" + std::to_string(value) + "]"; }
+        virtual ~MyObject3() { print_destroyed(this); }
+    private:
+        int value;
+    };
+    py::class_<MyObject3, std::shared_ptr<MyObject3>>(m, "MyObject3")
+        .def(py::init<int>());
+    m.def("make_myobject3_1", []() { return new MyObject3(8); });
+    m.def("make_myobject3_2", []() { return std::make_shared<MyObject3>(9); });
+    m.def("print_myobject3_1", [](const MyObject3 *obj) { py::print(obj->toString()); });
+    m.def("print_myobject3_2", [](std::shared_ptr<MyObject3> obj) { py::print(obj->toString()); });
+    m.def("print_myobject3_3", [](const std::shared_ptr<MyObject3> &obj) { py::print(obj->toString()); });
+    m.def("print_myobject3_4", [](const std::shared_ptr<MyObject3> *obj) { py::print((*obj)->toString()); });
+
+    // test_smart_ptr_refcounting
+    m.def("test_object1_refcounting", []() {
+        ref<MyObject1> o = new MyObject1(0);
+        bool good = o->getRefCount() == 1;
+        py::object o2 = py::cast(o, py::return_value_policy::reference);
+        // always request (partial) ownership for objects with intrusive
+        // reference counting even when using the 'reference' RVP
+        good &= o->getRefCount() == 2;
+        return good;
+    });
+
+    // test_unique_nodelete
+    // Object with a private destructor
+    class MyObject4 {
+    public:
+        MyObject4(int value) : value{value} { print_created(this); }
+        int value;
+    private:
+        ~MyObject4() { print_destroyed(this); }
+    };
+    py::class_<MyObject4, std::unique_ptr<MyObject4, py::nodelete>>(m, "MyObject4")
+        .def(py::init<int>())
+        .def_readwrite("value", &MyObject4::value);
+
+    // test_unique_deleter
+    // Object with std::unique_ptr<T, D> where D is not matching the base class
+    // Object with a protected destructor
+    class MyObject4a {
+    public:
+        MyObject4a(int i) {
+            value = i;
+            print_created(this);
+        };
+        int value;
+    protected:
+        virtual ~MyObject4a() { print_destroyed(this); }
+    };
+    py::class_<MyObject4a, std::unique_ptr<MyObject4a, py::nodelete>>(m, "MyObject4a")
+        .def(py::init<int>())
+        .def_readwrite("value", &MyObject4a::value);
+
+    // Object derived but with public destructor and no Deleter in default holder
+    class MyObject4b : public MyObject4a {
+    public:
+        MyObject4b(int i) : MyObject4a(i) { print_created(this); }
+        ~MyObject4b() override { print_destroyed(this); }
+    };
+    py::class_<MyObject4b, MyObject4a>(m, "MyObject4b")
+        .def(py::init<int>());
+
+    // test_large_holder
+    class MyObject5 { // managed by huge_unique_ptr
+    public:
+        MyObject5(int value) : value{value} { print_created(this); }
+        ~MyObject5() { print_destroyed(this); }
+        int value;
+    };
+    py::class_<MyObject5, huge_unique_ptr<MyObject5>>(m, "MyObject5")
+        .def(py::init<int>())
+        .def_readwrite("value", &MyObject5::value);
+
+    // test_shared_ptr_and_references
+    struct SharedPtrRef {
+        struct A {
+            A() { print_created(this); }
+            A(const A &) { print_copy_created(this); }
+            A(A &&) { print_move_created(this); }
+            ~A() { print_destroyed(this); }
+        };
+
+        A value = {};
+        std::shared_ptr<A> shared = std::make_shared<A>();
+    };
+    using A = SharedPtrRef::A;
+    py::class_<A, std::shared_ptr<A>>(m, "A");
+    py::class_<SharedPtrRef>(m, "SharedPtrRef")
+        .def(py::init<>())
+        .def_readonly("ref", &SharedPtrRef::value)
+        .def_property_readonly("copy", [](const SharedPtrRef &s) { return s.value; },
+                               py::return_value_policy::copy)
+        .def_readonly("holder_ref", &SharedPtrRef::shared)
+        .def_property_readonly("holder_copy", [](const SharedPtrRef &s) { return s.shared; },
+                               py::return_value_policy::copy)
+        .def("set_ref", [](SharedPtrRef &, const A &) { return true; })
+        .def("set_holder", [](SharedPtrRef &, std::shared_ptr<A>) { return true; });
+
+    // test_shared_ptr_from_this_and_references
+    struct SharedFromThisRef {
+        struct B : std::enable_shared_from_this<B> {
+            B() { print_created(this); }
+            B(const B &) : std::enable_shared_from_this<B>() { print_copy_created(this); }
+            B(B &&) : std::enable_shared_from_this<B>() { print_move_created(this); }
+            ~B() { print_destroyed(this); }
+        };
+
+        B value = {};
+        std::shared_ptr<B> shared = std::make_shared<B>();
+    };
+    using B = SharedFromThisRef::B;
+    py::class_<B, std::shared_ptr<B>>(m, "B");
+    py::class_<SharedFromThisRef>(m, "SharedFromThisRef")
+        .def(py::init<>())
+        .def_readonly("bad_wp", &SharedFromThisRef::value)
+        .def_property_readonly("ref", [](const SharedFromThisRef &s) -> const B & { return *s.shared; })
+        .def_property_readonly("copy", [](const SharedFromThisRef &s) { return s.value; },
+                               py::return_value_policy::copy)
+        .def_readonly("holder_ref", &SharedFromThisRef::shared)
+        .def_property_readonly("holder_copy", [](const SharedFromThisRef &s) { return s.shared; },
+                               py::return_value_policy::copy)
+        .def("set_ref", [](SharedFromThisRef &, const B &) { return true; })
+        .def("set_holder", [](SharedFromThisRef &, std::shared_ptr<B>) { return true; });
+
+    // Issue #865: shared_from_this doesn't work with virtual inheritance
+    struct SharedFromThisVBase : std::enable_shared_from_this<SharedFromThisVBase> {
+        SharedFromThisVBase() = default;
+        SharedFromThisVBase(const SharedFromThisVBase &) = default;
+        virtual ~SharedFromThisVBase() = default;
+    };
+    struct SharedFromThisVirt : virtual SharedFromThisVBase {};
+    static std::shared_ptr<SharedFromThisVirt> sft(new SharedFromThisVirt());
+    py::class_<SharedFromThisVirt, std::shared_ptr<SharedFromThisVirt>>(m, "SharedFromThisVirt")
+        .def_static("get", []() { return sft.get(); });
+
+    // test_move_only_holder
+    struct C {
+        C() { print_created(this); }
+        ~C() { print_destroyed(this); }
+    };
+    py::class_<C, custom_unique_ptr<C>>(m, "TypeWithMoveOnlyHolder")
+        .def_static("make", []() { return custom_unique_ptr<C>(new C); })
+        .def_static("make_as_object", []() { return py::cast(custom_unique_ptr<C>(new C)); });
+
+    // test_holder_with_addressof_operator
+    struct TypeForHolderWithAddressOf {
+        TypeForHolderWithAddressOf() { print_created(this); }
+        TypeForHolderWithAddressOf(const TypeForHolderWithAddressOf &) { print_copy_created(this); }
+        TypeForHolderWithAddressOf(TypeForHolderWithAddressOf &&) { print_move_created(this); }
+        ~TypeForHolderWithAddressOf() { print_destroyed(this); }
+        std::string toString() const {
+            return "TypeForHolderWithAddressOf[" + std::to_string(value) + "]";
+        }
+        int value = 42;
+    };
+    using HolderWithAddressOf = shared_ptr_with_addressof_operator<TypeForHolderWithAddressOf>;
+    py::class_<TypeForHolderWithAddressOf, HolderWithAddressOf>(m, "TypeForHolderWithAddressOf")
+        .def_static("make", []() { return HolderWithAddressOf(new TypeForHolderWithAddressOf); })
+        .def("get", [](const HolderWithAddressOf &self) { return self.get(); })
+        .def("print_object_1", [](const TypeForHolderWithAddressOf *obj) { py::print(obj->toString()); })
+        .def("print_object_2", [](HolderWithAddressOf obj) { py::print(obj.get()->toString()); })
+        .def("print_object_3", [](const HolderWithAddressOf &obj) { py::print(obj.get()->toString()); })
+        .def("print_object_4", [](const HolderWithAddressOf *obj) { py::print((*obj).get()->toString()); });
+
+    // test_move_only_holder_with_addressof_operator
+    struct TypeForMoveOnlyHolderWithAddressOf {
+        TypeForMoveOnlyHolderWithAddressOf(int value) : value{value} { print_created(this); }
+        ~TypeForMoveOnlyHolderWithAddressOf() { print_destroyed(this); }
+        std::string toString() const {
+            return "MoveOnlyHolderWithAddressOf[" + std::to_string(value) + "]";
+        }
+        int value;
+    };
+    using MoveOnlyHolderWithAddressOf = unique_ptr_with_addressof_operator<TypeForMoveOnlyHolderWithAddressOf>;
+    py::class_<TypeForMoveOnlyHolderWithAddressOf, MoveOnlyHolderWithAddressOf>(m, "TypeForMoveOnlyHolderWithAddressOf")
+        .def_static("make", []() { return MoveOnlyHolderWithAddressOf(new TypeForMoveOnlyHolderWithAddressOf(0)); })
+        .def_readwrite("value", &TypeForMoveOnlyHolderWithAddressOf::value)
+        .def("print_object", [](const TypeForMoveOnlyHolderWithAddressOf *obj) { py::print(obj->toString()); });
+
+    // test_smart_ptr_from_default
+    struct HeldByDefaultHolder { };
+    py::class_<HeldByDefaultHolder>(m, "HeldByDefaultHolder")
+        .def(py::init<>())
+        .def_static("load_shared_ptr", [](std::shared_ptr<HeldByDefaultHolder>) {});
+
+    // test_shared_ptr_gc
+    // #187: issue involving std::shared_ptr<> return value policy & garbage collection
+    struct ElementBase {
+        virtual ~ElementBase() = default; /* Force creation of virtual table */
+        ElementBase() = default;
+        ElementBase(const ElementBase&) = delete;
+    };
+    py::class_<ElementBase, std::shared_ptr<ElementBase>>(m, "ElementBase");
+
+    struct ElementA : ElementBase {
+        ElementA(int v) : v(v) { }
+        int value() { return v; }
+        int v;
+    };
+    py::class_<ElementA, ElementBase, std::shared_ptr<ElementA>>(m, "ElementA")
+        .def(py::init<int>())
+        .def("value", &ElementA::value);
+
+    struct ElementList {
+        void add(std::shared_ptr<ElementBase> e) { l.push_back(e); }
+        std::vector<std::shared_ptr<ElementBase>> l;
+    };
+    py::class_<ElementList, std::shared_ptr<ElementList>>(m, "ElementList")
+        .def(py::init<>())
+        .def("add", &ElementList::add)
+        .def("get", [](ElementList &el) {
+            py::list list;
+            for (auto &e : el.l)
+                list.append(py::cast(e));
+            return list;
+        });
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_smart_ptr.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_smart_ptr.py
new file mode 100644
index 0000000..0b1ca45
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_smart_ptr.py
@@ -0,0 +1,291 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+m = pytest.importorskip("pybind11_tests.smart_ptr")
+from pybind11_tests import ConstructorStats  # noqa: E402
+
+
+def test_smart_ptr(capture):
+    # Object1
+    for i, o in enumerate([m.make_object_1(), m.make_object_2(), m.MyObject1(3)], start=1):
+        assert o.getRefCount() == 1
+        with capture:
+            m.print_object_1(o)
+            m.print_object_2(o)
+            m.print_object_3(o)
+            m.print_object_4(o)
+        assert capture == "MyObject1[{i}]\n".format(i=i) * 4
+
+    for i, o in enumerate([m.make_myobject1_1(), m.make_myobject1_2(), m.MyObject1(6), 7],
+                          start=4):
+        print(o)
+        with capture:
+            if not isinstance(o, int):
+                m.print_object_1(o)
+                m.print_object_2(o)
+                m.print_object_3(o)
+                m.print_object_4(o)
+            m.print_myobject1_1(o)
+            m.print_myobject1_2(o)
+            m.print_myobject1_3(o)
+            m.print_myobject1_4(o)
+        assert capture == "MyObject1[{i}]\n".format(i=i) * (4 if isinstance(o, int) else 8)
+
+    cstats = ConstructorStats.get(m.MyObject1)
+    assert cstats.alive() == 0
+    expected_values = ['MyObject1[{}]'.format(i) for i in range(1, 7)] + ['MyObject1[7]'] * 4
+    assert cstats.values() == expected_values
+    assert cstats.default_constructions == 0
+    assert cstats.copy_constructions == 0
+    # assert cstats.move_constructions >= 0 # Doesn't invoke any
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+    # Object2
+    for i, o in zip([8, 6, 7], [m.MyObject2(8), m.make_myobject2_1(), m.make_myobject2_2()]):
+        print(o)
+        with capture:
+            m.print_myobject2_1(o)
+            m.print_myobject2_2(o)
+            m.print_myobject2_3(o)
+            m.print_myobject2_4(o)
+        assert capture == "MyObject2[{i}]\n".format(i=i) * 4
+
+    cstats = ConstructorStats.get(m.MyObject2)
+    assert cstats.alive() == 1
+    o = None
+    assert cstats.alive() == 0
+    assert cstats.values() == ['MyObject2[8]', 'MyObject2[6]', 'MyObject2[7]']
+    assert cstats.default_constructions == 0
+    assert cstats.copy_constructions == 0
+    # assert cstats.move_constructions >= 0 # Doesn't invoke any
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+    # Object3
+    for i, o in zip([9, 8, 9], [m.MyObject3(9), m.make_myobject3_1(), m.make_myobject3_2()]):
+        print(o)
+        with capture:
+            m.print_myobject3_1(o)
+            m.print_myobject3_2(o)
+            m.print_myobject3_3(o)
+            m.print_myobject3_4(o)
+        assert capture == "MyObject3[{i}]\n".format(i=i) * 4
+
+    cstats = ConstructorStats.get(m.MyObject3)
+    assert cstats.alive() == 1
+    o = None
+    assert cstats.alive() == 0
+    assert cstats.values() == ['MyObject3[9]', 'MyObject3[8]', 'MyObject3[9]']
+    assert cstats.default_constructions == 0
+    assert cstats.copy_constructions == 0
+    # assert cstats.move_constructions >= 0 # Doesn't invoke any
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+    # Object
+    cstats = ConstructorStats.get(m.Object)
+    assert cstats.alive() == 0
+    assert cstats.values() == []
+    assert cstats.default_constructions == 10
+    assert cstats.copy_constructions == 0
+    # assert cstats.move_constructions >= 0 # Doesn't invoke any
+    assert cstats.copy_assignments == 0
+    assert cstats.move_assignments == 0
+
+    # ref<>
+    cstats = m.cstats_ref()
+    assert cstats.alive() == 0
+    assert cstats.values() == ['from pointer'] * 10
+    assert cstats.default_constructions == 30
+    assert cstats.copy_constructions == 12
+    # assert cstats.move_constructions >= 0 # Doesn't invoke any
+    assert cstats.copy_assignments == 30
+    assert cstats.move_assignments == 0
+
+
+def test_smart_ptr_refcounting():
+    assert m.test_object1_refcounting()
+
+
+def test_unique_nodelete():
+    o = m.MyObject4(23)
+    assert o.value == 23
+    cstats = ConstructorStats.get(m.MyObject4)
+    assert cstats.alive() == 1
+    del o
+    assert cstats.alive() == 1  # Leak, but that's intentional
+
+
+def test_unique_nodelete4a():
+    o = m.MyObject4a(23)
+    assert o.value == 23
+    cstats = ConstructorStats.get(m.MyObject4a)
+    assert cstats.alive() == 1
+    del o
+    assert cstats.alive() == 1  # Leak, but that's intentional
+
+
+def test_unique_deleter():
+    o = m.MyObject4b(23)
+    assert o.value == 23
+    cstats4a = ConstructorStats.get(m.MyObject4a)
+    assert cstats4a.alive() == 2  # Two because of previous test
+    cstats4b = ConstructorStats.get(m.MyObject4b)
+    assert cstats4b.alive() == 1
+    del o
+    assert cstats4a.alive() == 1  # Should now only be one leftover from previous test
+    assert cstats4b.alive() == 0  # Should be deleted
+
+
+def test_large_holder():
+    o = m.MyObject5(5)
+    assert o.value == 5
+    cstats = ConstructorStats.get(m.MyObject5)
+    assert cstats.alive() == 1
+    del o
+    assert cstats.alive() == 0
+
+
+def test_shared_ptr_and_references():
+    s = m.SharedPtrRef()
+    stats = ConstructorStats.get(m.A)
+    assert stats.alive() == 2
+
+    ref = s.ref  # init_holder_helper(holder_ptr=false, owned=false)
+    assert stats.alive() == 2
+    assert s.set_ref(ref)
+    with pytest.raises(RuntimeError) as excinfo:
+        assert s.set_holder(ref)
+    assert "Unable to cast from non-held to held instance" in str(excinfo.value)
+
+    copy = s.copy  # init_holder_helper(holder_ptr=false, owned=true)
+    assert stats.alive() == 3
+    assert s.set_ref(copy)
+    assert s.set_holder(copy)
+
+    holder_ref = s.holder_ref  # init_holder_helper(holder_ptr=true, owned=false)
+    assert stats.alive() == 3
+    assert s.set_ref(holder_ref)
+    assert s.set_holder(holder_ref)
+
+    holder_copy = s.holder_copy  # init_holder_helper(holder_ptr=true, owned=true)
+    assert stats.alive() == 3
+    assert s.set_ref(holder_copy)
+    assert s.set_holder(holder_copy)
+
+    del ref, copy, holder_ref, holder_copy, s
+    assert stats.alive() == 0
+
+
+def test_shared_ptr_from_this_and_references():
+    s = m.SharedFromThisRef()
+    stats = ConstructorStats.get(m.B)
+    assert stats.alive() == 2
+
+    ref = s.ref  # init_holder_helper(holder_ptr=false, owned=false, bad_wp=false)
+    assert stats.alive() == 2
+    assert s.set_ref(ref)
+    assert s.set_holder(ref)  # std::enable_shared_from_this can create a holder from a reference
+
+    bad_wp = s.bad_wp  # init_holder_helper(holder_ptr=false, owned=false, bad_wp=true)
+    assert stats.alive() == 2
+    assert s.set_ref(bad_wp)
+    with pytest.raises(RuntimeError) as excinfo:
+        assert s.set_holder(bad_wp)
+    assert "Unable to cast from non-held to held instance" in str(excinfo.value)
+
+    copy = s.copy  # init_holder_helper(holder_ptr=false, owned=true, bad_wp=false)
+    assert stats.alive() == 3
+    assert s.set_ref(copy)
+    assert s.set_holder(copy)
+
+    holder_ref = s.holder_ref  # init_holder_helper(holder_ptr=true, owned=false, bad_wp=false)
+    assert stats.alive() == 3
+    assert s.set_ref(holder_ref)
+    assert s.set_holder(holder_ref)
+
+    holder_copy = s.holder_copy  # init_holder_helper(holder_ptr=true, owned=true, bad_wp=false)
+    assert stats.alive() == 3
+    assert s.set_ref(holder_copy)
+    assert s.set_holder(holder_copy)
+
+    del ref, bad_wp, copy, holder_ref, holder_copy, s
+    assert stats.alive() == 0
+
+    z = m.SharedFromThisVirt.get()
+    y = m.SharedFromThisVirt.get()
+    assert y is z
+
+
+def test_move_only_holder():
+    a = m.TypeWithMoveOnlyHolder.make()
+    b = m.TypeWithMoveOnlyHolder.make_as_object()
+    stats = ConstructorStats.get(m.TypeWithMoveOnlyHolder)
+    assert stats.alive() == 2
+    del b
+    assert stats.alive() == 1
+    del a
+    assert stats.alive() == 0
+
+
+def test_holder_with_addressof_operator():
+    # this test must not throw exception from c++
+    a = m.TypeForHolderWithAddressOf.make()
+    a.print_object_1()
+    a.print_object_2()
+    a.print_object_3()
+    a.print_object_4()
+
+    stats = ConstructorStats.get(m.TypeForHolderWithAddressOf)
+    assert stats.alive() == 1
+
+    np = m.TypeForHolderWithAddressOf.make()
+    assert stats.alive() == 2
+    del a
+    assert stats.alive() == 1
+    del np
+    assert stats.alive() == 0
+
+    b = m.TypeForHolderWithAddressOf.make()
+    c = b
+    assert b.get() is c.get()
+    assert stats.alive() == 1
+
+    del b
+    assert stats.alive() == 1
+
+    del c
+    assert stats.alive() == 0
+
+
+def test_move_only_holder_with_addressof_operator():
+    a = m.TypeForMoveOnlyHolderWithAddressOf.make()
+    a.print_object()
+
+    stats = ConstructorStats.get(m.TypeForMoveOnlyHolderWithAddressOf)
+    assert stats.alive() == 1
+
+    a.value = 42
+    assert a.value == 42
+
+    del a
+    assert stats.alive() == 0
+
+
+def test_smart_ptr_from_default():
+    instance = m.HeldByDefaultHolder()
+    with pytest.raises(RuntimeError) as excinfo:
+        m.HeldByDefaultHolder.load_shared_ptr(instance)
+    assert "Unable to load a custom holder type from a " \
+           "default-holder instance" in str(excinfo.value)
+
+
+def test_shared_ptr_gc():
+    """#187: issue involving std::shared_ptr<> return value policy & garbage collection"""
+    el = m.ElementList()
+    for i in range(10):
+        el.add(m.ElementA(i))
+    pytest.gc_collect()
+    for i, v in enumerate(el.get()):
+        assert i == v.value()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl.cpp
new file mode 100644
index 0000000..0590162
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl.cpp
@@ -0,0 +1,324 @@
+/*
+    tests/test_stl.cpp -- STL type casters
+
+    Copyright (c) 2017 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/stl.h>
+
+#include <vector>
+#include <string>
+
+// Test with `std::variant` in C++17 mode, or with `boost::variant` in C++11/14
+#if defined(PYBIND11_HAS_VARIANT)
+using std::variant;
+#elif defined(PYBIND11_TEST_BOOST) && (!defined(_MSC_VER) || _MSC_VER >= 1910)
+#  include <boost/variant.hpp>
+#  define PYBIND11_HAS_VARIANT 1
+using boost::variant;
+
+namespace pybind11 { namespace detail {
+template <typename... Ts>
+struct type_caster<boost::variant<Ts...>> : variant_caster<boost::variant<Ts...>> {};
+
+template <>
+struct visit_helper<boost::variant> {
+    template <typename... Args>
+    static auto call(Args &&...args) -> decltype(boost::apply_visitor(args...)) {
+        return boost::apply_visitor(args...);
+    }
+};
+}} // namespace pybind11::detail
+#endif
+
+PYBIND11_MAKE_OPAQUE(std::vector<std::string, std::allocator<std::string>>);
+
+/// Issue #528: templated constructor
+struct TplCtorClass {
+    template <typename T> TplCtorClass(const T &) { }
+    bool operator==(const TplCtorClass &) const { return true; }
+};
+
+namespace std {
+    template <>
+    struct hash<TplCtorClass> { size_t operator()(const TplCtorClass &) const { return 0; } };
+} // namespace std
+
+
+template <template <typename> class OptionalImpl, typename T>
+struct OptionalHolder
+{
+    OptionalHolder() = default;
+    bool member_initialized() const {
+        return member && member->initialized;
+    }
+    OptionalImpl<T> member = T{};
+};
+
+
+TEST_SUBMODULE(stl, m) {
+    // test_vector
+    m.def("cast_vector", []() { return std::vector<int>{1}; });
+    m.def("load_vector", [](const std::vector<int> &v) { return v.at(0) == 1 && v.at(1) == 2; });
+    // `std::vector<bool>` is special because it returns proxy objects instead of references
+    m.def("cast_bool_vector", []() { return std::vector<bool>{true, false}; });
+    m.def("load_bool_vector", [](const std::vector<bool> &v) {
+        return v.at(0) == true && v.at(1) == false;
+    });
+    // Unnumbered regression (caused by #936): pointers to stl containers aren't castable
+    static std::vector<RValueCaster> lvv{2};
+    m.def("cast_ptr_vector", []() { return &lvv; });
+
+    // test_deque
+    m.def("cast_deque", []() { return std::deque<int>{1}; });
+    m.def("load_deque", [](const std::deque<int> &v) { return v.at(0) == 1 && v.at(1) == 2; });
+
+    // test_array
+    m.def("cast_array", []() { return std::array<int, 2> {{1 , 2}}; });
+    m.def("load_array", [](const std::array<int, 2> &a) { return a[0] == 1 && a[1] == 2; });
+
+    // test_valarray
+    m.def("cast_valarray", []() { return std::valarray<int>{1, 4, 9}; });
+    m.def("load_valarray", [](const std::valarray<int>& v) {
+        return v.size() == 3 && v[0] == 1 && v[1] == 4 && v[2] == 9;
+    });
+
+    // test_map
+    m.def("cast_map", []() { return std::map<std::string, std::string>{{"key", "value"}}; });
+    m.def("load_map", [](const std::map<std::string, std::string> &map) {
+        return map.at("key") == "value" && map.at("key2") == "value2";
+    });
+
+    // test_set
+    m.def("cast_set", []() { return std::set<std::string>{"key1", "key2"}; });
+    m.def("load_set", [](const std::set<std::string> &set) {
+        return set.count("key1") && set.count("key2") && set.count("key3");
+    });
+
+    // test_recursive_casting
+    m.def("cast_rv_vector", []() { return std::vector<RValueCaster>{2}; });
+    m.def("cast_rv_array", []() { return std::array<RValueCaster, 3>(); });
+    // NB: map and set keys are `const`, so while we technically do move them (as `const Type &&`),
+    // casters don't typically do anything with that, which means they fall to the `const Type &`
+    // caster.
+    m.def("cast_rv_map", []() { return std::unordered_map<std::string, RValueCaster>{{"a", RValueCaster{}}}; });
+    m.def("cast_rv_nested", []() {
+        std::vector<std::array<std::list<std::unordered_map<std::string, RValueCaster>>, 2>> v;
+        v.emplace_back(); // add an array
+        v.back()[0].emplace_back(); // add a map to the array
+        v.back()[0].back().emplace("b", RValueCaster{});
+        v.back()[0].back().emplace("c", RValueCaster{});
+        v.back()[1].emplace_back(); // add a map to the array
+        v.back()[1].back().emplace("a", RValueCaster{});
+        return v;
+    });
+    static std::array<RValueCaster, 2> lva;
+    static std::unordered_map<std::string, RValueCaster> lvm{{"a", RValueCaster{}}, {"b", RValueCaster{}}};
+    static std::unordered_map<std::string, std::vector<std::list<std::array<RValueCaster, 2>>>> lvn;
+    lvn["a"].emplace_back(); // add a list
+    lvn["a"].back().emplace_back(); // add an array
+    lvn["a"].emplace_back(); // another list
+    lvn["a"].back().emplace_back(); // add an array
+    lvn["b"].emplace_back(); // add a list
+    lvn["b"].back().emplace_back(); // add an array
+    lvn["b"].back().emplace_back(); // add another array
+    m.def("cast_lv_vector", []() -> const decltype(lvv) & { return lvv; });
+    m.def("cast_lv_array", []() -> const decltype(lva) & { return lva; });
+    m.def("cast_lv_map", []() -> const decltype(lvm) & { return lvm; });
+    m.def("cast_lv_nested", []() -> const decltype(lvn) & { return lvn; });
+    // #853:
+    m.def("cast_unique_ptr_vector", []() {
+        std::vector<std::unique_ptr<UserType>> v;
+        v.emplace_back(new UserType{7});
+        v.emplace_back(new UserType{42});
+        return v;
+    });
+
+    // test_move_out_container
+    struct MoveOutContainer {
+        struct Value { int value; };
+        std::list<Value> move_list() const { return {{0}, {1}, {2}}; }
+    };
+    py::class_<MoveOutContainer::Value>(m, "MoveOutContainerValue")
+        .def_readonly("value", &MoveOutContainer::Value::value);
+    py::class_<MoveOutContainer>(m, "MoveOutContainer")
+        .def(py::init<>())
+        .def_property_readonly("move_list", &MoveOutContainer::move_list);
+
+    // Class that can be move- and copy-constructed, but not assigned
+    struct NoAssign {
+        int value;
+
+        explicit NoAssign(int value = 0) : value(value) { }
+        NoAssign(const NoAssign &) = default;
+        NoAssign(NoAssign &&) = default;
+
+        NoAssign &operator=(const NoAssign &) = delete;
+        NoAssign &operator=(NoAssign &&) = delete;
+    };
+    py::class_<NoAssign>(m, "NoAssign", "Class with no C++ assignment operators")
+        .def(py::init<>())
+        .def(py::init<int>());
+
+
+    struct MoveOutDetector
+    {
+        MoveOutDetector() = default;
+        MoveOutDetector(const MoveOutDetector&) = default;
+        MoveOutDetector(MoveOutDetector&& other) noexcept
+         : initialized(other.initialized) {
+            // steal underlying resource
+            other.initialized = false;
+        }
+        bool initialized = true;
+    };
+    py::class_<MoveOutDetector>(m, "MoveOutDetector", "Class with move tracking")
+        .def(py::init<>())
+        .def_readonly("initialized", &MoveOutDetector::initialized);
+
+
+#ifdef PYBIND11_HAS_OPTIONAL
+    // test_optional
+    m.attr("has_optional") = true;
+
+    using opt_int = std::optional<int>;
+    using opt_no_assign = std::optional<NoAssign>;
+    m.def("double_or_zero", [](const opt_int& x) -> int {
+        return x.value_or(0) * 2;
+    });
+    m.def("half_or_none", [](int x) -> opt_int {
+        return x ? opt_int(x / 2) : opt_int();
+    });
+    m.def("test_nullopt", [](opt_int x) {
+        return x.value_or(42);
+    }, py::arg_v("x", std::nullopt, "None"));
+    m.def("test_no_assign", [](const opt_no_assign &x) {
+        return x ? x->value : 42;
+    }, py::arg_v("x", std::nullopt, "None"));
+
+    m.def("nodefer_none_optional", [](std::optional<int>) { return true; });
+    m.def("nodefer_none_optional", [](py::none) { return false; });
+
+    using opt_holder = OptionalHolder<std::optional, MoveOutDetector>;
+    py::class_<opt_holder>(m, "OptionalHolder", "Class with optional member")
+        .def(py::init<>())
+        .def_readonly("member", &opt_holder::member)
+        .def("member_initialized", &opt_holder::member_initialized);
+#endif
+
+#ifdef PYBIND11_HAS_EXP_OPTIONAL
+    // test_exp_optional
+    m.attr("has_exp_optional") = true;
+
+    using exp_opt_int = std::experimental::optional<int>;
+    using exp_opt_no_assign = std::experimental::optional<NoAssign>;
+    m.def("double_or_zero_exp", [](const exp_opt_int& x) -> int {
+        return x.value_or(0) * 2;
+    });
+    m.def("half_or_none_exp", [](int x) -> exp_opt_int {
+        return x ? exp_opt_int(x / 2) : exp_opt_int();
+    });
+    m.def("test_nullopt_exp", [](exp_opt_int x) {
+        return x.value_or(42);
+    }, py::arg_v("x", std::experimental::nullopt, "None"));
+    m.def("test_no_assign_exp", [](const exp_opt_no_assign &x) {
+        return x ? x->value : 42;
+    }, py::arg_v("x", std::experimental::nullopt, "None"));
+
+    using opt_exp_holder = OptionalHolder<std::experimental::optional, MoveOutDetector>;
+    py::class_<opt_exp_holder>(m, "OptionalExpHolder", "Class with optional member")
+        .def(py::init<>())
+        .def_readonly("member", &opt_exp_holder::member)
+        .def("member_initialized", &opt_exp_holder::member_initialized);
+#endif
+
+#ifdef PYBIND11_HAS_VARIANT
+    static_assert(std::is_same<py::detail::variant_caster_visitor::result_type, py::handle>::value,
+                  "visitor::result_type is required by boost::variant in C++11 mode");
+
+    struct visitor {
+        using result_type = const char *;
+
+        result_type operator()(int) { return "int"; }
+        result_type operator()(std::string) { return "std::string"; }
+        result_type operator()(double) { return "double"; }
+        result_type operator()(std::nullptr_t) { return "std::nullptr_t"; }
+    };
+
+    // test_variant
+    m.def("load_variant", [](variant<int, std::string, double, std::nullptr_t> v) {
+        return py::detail::visit_helper<variant>::call(visitor(), v);
+    });
+    m.def("load_variant_2pass", [](variant<double, int> v) {
+        return py::detail::visit_helper<variant>::call(visitor(), v);
+    });
+    m.def("cast_variant", []() {
+        using V = variant<int, std::string>;
+        return py::make_tuple(V(5), V("Hello"));
+    });
+#endif
+
+    // #528: templated constructor
+    // (no python tests: the test here is that this compiles)
+    m.def("tpl_ctor_vector", [](std::vector<TplCtorClass> &) {});
+    m.def("tpl_ctor_map", [](std::unordered_map<TplCtorClass, TplCtorClass> &) {});
+    m.def("tpl_ctor_set", [](std::unordered_set<TplCtorClass> &) {});
+#if defined(PYBIND11_HAS_OPTIONAL)
+    m.def("tpl_constr_optional", [](std::optional<TplCtorClass> &) {});
+#elif defined(PYBIND11_HAS_EXP_OPTIONAL)
+    m.def("tpl_constr_optional", [](std::experimental::optional<TplCtorClass> &) {});
+#endif
+
+    // test_vec_of_reference_wrapper
+    // #171: Can't return STL structures containing reference wrapper
+    m.def("return_vec_of_reference_wrapper", [](std::reference_wrapper<UserType> p4) {
+        static UserType p1{1}, p2{2}, p3{3};
+        return std::vector<std::reference_wrapper<UserType>> {
+            std::ref(p1), std::ref(p2), std::ref(p3), p4
+        };
+    });
+
+    // test_stl_pass_by_pointer
+    m.def("stl_pass_by_pointer", [](std::vector<int>* v) { return *v; }, "v"_a=nullptr);
+
+    // #1258: pybind11/stl.h converts string to vector<string>
+    m.def("func_with_string_or_vector_string_arg_overload", [](std::vector<std::string>) { return 1; });
+    m.def("func_with_string_or_vector_string_arg_overload", [](std::list<std::string>) { return 2; });
+    m.def("func_with_string_or_vector_string_arg_overload", [](std::string) { return 3; });
+
+    class Placeholder {
+    public:
+        Placeholder() { print_created(this); }
+        Placeholder(const Placeholder &) = delete;
+        ~Placeholder() { print_destroyed(this); }
+    };
+    py::class_<Placeholder>(m, "Placeholder");
+
+    /// test_stl_vector_ownership
+    m.def("test_stl_ownership",
+          []() {
+              std::vector<Placeholder *> result;
+              result.push_back(new Placeholder());
+              return result;
+          },
+          py::return_value_policy::take_ownership);
+
+    m.def("array_cast_sequence", [](std::array<int, 3> x) { return x; });
+
+    /// test_issue_1561
+    struct Issue1561Inner { std::string data; };
+    struct Issue1561Outer { std::vector<Issue1561Inner> list; };
+
+    py::class_<Issue1561Inner>(m, "Issue1561Inner")
+        .def(py::init<std::string>())
+        .def_readwrite("data", &Issue1561Inner::data);
+
+    py::class_<Issue1561Outer>(m, "Issue1561Outer")
+        .def(py::init<>())
+        .def_readwrite("list", &Issue1561Outer::list);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl.py
new file mode 100644
index 0000000..141b3e8
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl.py
@@ -0,0 +1,252 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+from pybind11_tests import stl as m
+from pybind11_tests import UserType
+from pybind11_tests import ConstructorStats
+
+
+def test_vector(doc):
+    """std::vector <-> list"""
+    lst = m.cast_vector()
+    assert lst == [1]
+    lst.append(2)
+    assert m.load_vector(lst)
+    assert m.load_vector(tuple(lst))
+
+    assert m.cast_bool_vector() == [True, False]
+    assert m.load_bool_vector([True, False])
+
+    assert doc(m.cast_vector) == "cast_vector() -> List[int]"
+    assert doc(m.load_vector) == "load_vector(arg0: List[int]) -> bool"
+
+    # Test regression caused by 936: pointers to stl containers weren't castable
+    assert m.cast_ptr_vector() == ["lvalue", "lvalue"]
+
+
+def test_deque(doc):
+    """std::deque <-> list"""
+    lst = m.cast_deque()
+    assert lst == [1]
+    lst.append(2)
+    assert m.load_deque(lst)
+    assert m.load_deque(tuple(lst))
+
+
+def test_array(doc):
+    """std::array <-> list"""
+    lst = m.cast_array()
+    assert lst == [1, 2]
+    assert m.load_array(lst)
+
+    assert doc(m.cast_array) == "cast_array() -> List[int[2]]"
+    assert doc(m.load_array) == "load_array(arg0: List[int[2]]) -> bool"
+
+
+def test_valarray(doc):
+    """std::valarray <-> list"""
+    lst = m.cast_valarray()
+    assert lst == [1, 4, 9]
+    assert m.load_valarray(lst)
+
+    assert doc(m.cast_valarray) == "cast_valarray() -> List[int]"
+    assert doc(m.load_valarray) == "load_valarray(arg0: List[int]) -> bool"
+
+
+def test_map(doc):
+    """std::map <-> dict"""
+    d = m.cast_map()
+    assert d == {"key": "value"}
+    assert "key" in d
+    d["key2"] = "value2"
+    assert "key2" in d
+    assert m.load_map(d)
+
+    assert doc(m.cast_map) == "cast_map() -> Dict[str, str]"
+    assert doc(m.load_map) == "load_map(arg0: Dict[str, str]) -> bool"
+
+
+def test_set(doc):
+    """std::set <-> set"""
+    s = m.cast_set()
+    assert s == {"key1", "key2"}
+    s.add("key3")
+    assert m.load_set(s)
+
+    assert doc(m.cast_set) == "cast_set() -> Set[str]"
+    assert doc(m.load_set) == "load_set(arg0: Set[str]) -> bool"
+
+
+def test_recursive_casting():
+    """Tests that stl casters preserve lvalue/rvalue context for container values"""
+    assert m.cast_rv_vector() == ["rvalue", "rvalue"]
+    assert m.cast_lv_vector() == ["lvalue", "lvalue"]
+    assert m.cast_rv_array() == ["rvalue", "rvalue", "rvalue"]
+    assert m.cast_lv_array() == ["lvalue", "lvalue"]
+    assert m.cast_rv_map() == {"a": "rvalue"}
+    assert m.cast_lv_map() == {"a": "lvalue", "b": "lvalue"}
+    assert m.cast_rv_nested() == [[[{"b": "rvalue", "c": "rvalue"}], [{"a": "rvalue"}]]]
+    assert m.cast_lv_nested() == {
+        "a": [[["lvalue", "lvalue"]], [["lvalue", "lvalue"]]],
+        "b": [[["lvalue", "lvalue"], ["lvalue", "lvalue"]]]
+    }
+
+    # Issue #853 test case:
+    z = m.cast_unique_ptr_vector()
+    assert z[0].value == 7 and z[1].value == 42
+
+
+def test_move_out_container():
+    """Properties use the `reference_internal` policy by default. If the underlying function
+    returns an rvalue, the policy is automatically changed to `move` to avoid referencing
+    a temporary. In case the return value is a container of user-defined types, the policy
+    also needs to be applied to the elements, not just the container."""
+    c = m.MoveOutContainer()
+    moved_out_list = c.move_list
+    assert [x.value for x in moved_out_list] == [0, 1, 2]
+
+
+@pytest.mark.skipif(not hasattr(m, "has_optional"), reason='no <optional>')
+def test_optional():
+    assert m.double_or_zero(None) == 0
+    assert m.double_or_zero(42) == 84
+    pytest.raises(TypeError, m.double_or_zero, 'foo')
+
+    assert m.half_or_none(0) is None
+    assert m.half_or_none(42) == 21
+    pytest.raises(TypeError, m.half_or_none, 'foo')
+
+    assert m.test_nullopt() == 42
+    assert m.test_nullopt(None) == 42
+    assert m.test_nullopt(42) == 42
+    assert m.test_nullopt(43) == 43
+
+    assert m.test_no_assign() == 42
+    assert m.test_no_assign(None) == 42
+    assert m.test_no_assign(m.NoAssign(43)) == 43
+    pytest.raises(TypeError, m.test_no_assign, 43)
+
+    assert m.nodefer_none_optional(None)
+
+    holder = m.OptionalHolder()
+    mvalue = holder.member
+    assert mvalue.initialized
+    assert holder.member_initialized()
+
+
+@pytest.mark.skipif(not hasattr(m, "has_exp_optional"), reason='no <experimental/optional>')
+def test_exp_optional():
+    assert m.double_or_zero_exp(None) == 0
+    assert m.double_or_zero_exp(42) == 84
+    pytest.raises(TypeError, m.double_or_zero_exp, 'foo')
+
+    assert m.half_or_none_exp(0) is None
+    assert m.half_or_none_exp(42) == 21
+    pytest.raises(TypeError, m.half_or_none_exp, 'foo')
+
+    assert m.test_nullopt_exp() == 42
+    assert m.test_nullopt_exp(None) == 42
+    assert m.test_nullopt_exp(42) == 42
+    assert m.test_nullopt_exp(43) == 43
+
+    assert m.test_no_assign_exp() == 42
+    assert m.test_no_assign_exp(None) == 42
+    assert m.test_no_assign_exp(m.NoAssign(43)) == 43
+    pytest.raises(TypeError, m.test_no_assign_exp, 43)
+
+    holder = m.OptionalExpHolder()
+    mvalue = holder.member
+    assert mvalue.initialized
+    assert holder.member_initialized()
+
+
+@pytest.mark.skipif(not hasattr(m, "load_variant"), reason='no <variant>')
+def test_variant(doc):
+    assert m.load_variant(1) == "int"
+    assert m.load_variant("1") == "std::string"
+    assert m.load_variant(1.0) == "double"
+    assert m.load_variant(None) == "std::nullptr_t"
+
+    assert m.load_variant_2pass(1) == "int"
+    assert m.load_variant_2pass(1.0) == "double"
+
+    assert m.cast_variant() == (5, "Hello")
+
+    assert doc(m.load_variant) == "load_variant(arg0: Union[int, str, float, None]) -> str"
+
+
+def test_vec_of_reference_wrapper():
+    """#171: Can't return reference wrappers (or STL structures containing them)"""
+    assert str(m.return_vec_of_reference_wrapper(UserType(4))) == \
+        "[UserType(1), UserType(2), UserType(3), UserType(4)]"
+
+
+def test_stl_pass_by_pointer(msg):
+    """Passing nullptr or None to an STL container pointer is not expected to work"""
+    with pytest.raises(TypeError) as excinfo:
+        m.stl_pass_by_pointer()  # default value is `nullptr`
+    assert msg(excinfo.value) == """
+        stl_pass_by_pointer(): incompatible function arguments. The following argument types are supported:
+            1. (v: List[int] = None) -> List[int]
+
+        Invoked with:
+    """  # noqa: E501 line too long
+
+    with pytest.raises(TypeError) as excinfo:
+        m.stl_pass_by_pointer(None)
+    assert msg(excinfo.value) == """
+        stl_pass_by_pointer(): incompatible function arguments. The following argument types are supported:
+            1. (v: List[int] = None) -> List[int]
+
+        Invoked with: None
+    """  # noqa: E501 line too long
+
+    assert m.stl_pass_by_pointer([1, 2, 3]) == [1, 2, 3]
+
+
+def test_missing_header_message():
+    """Trying convert `list` to a `std::vector`, or vice versa, without including
+    <pybind11/stl.h> should result in a helpful suggestion in the error message"""
+    import pybind11_cross_module_tests as cm
+
+    expected_message = ("Did you forget to `#include <pybind11/stl.h>`? Or <pybind11/complex.h>,\n"
+                        "<pybind11/functional.h>, <pybind11/chrono.h>, etc. Some automatic\n"
+                        "conversions are optional and require extra headers to be included\n"
+                        "when compiling your pybind11 module.")
+
+    with pytest.raises(TypeError) as excinfo:
+        cm.missing_header_arg([1.0, 2.0, 3.0])
+    assert expected_message in str(excinfo.value)
+
+    with pytest.raises(TypeError) as excinfo:
+        cm.missing_header_return()
+    assert expected_message in str(excinfo.value)
+
+
+def test_function_with_string_and_vector_string_arg():
+    """Check if a string is NOT implicitly converted to a list, which was the
+    behavior before fix of issue #1258"""
+    assert m.func_with_string_or_vector_string_arg_overload(('A', 'B', )) == 2
+    assert m.func_with_string_or_vector_string_arg_overload(['A', 'B']) == 2
+    assert m.func_with_string_or_vector_string_arg_overload('A') == 3
+
+
+def test_stl_ownership():
+    cstats = ConstructorStats.get(m.Placeholder)
+    assert cstats.alive() == 0
+    r = m.test_stl_ownership()
+    assert len(r) == 1
+    del r
+    assert cstats.alive() == 0
+
+
+def test_array_cast_sequence():
+    assert m.array_cast_sequence((1, 2, 3)) == [1, 2, 3]
+
+
+def test_issue_1561():
+    """ check fix for issue #1561 """
+    bar = m.Issue1561Outer()
+    bar.list = [m.Issue1561Inner('bar')]
+    bar.list
+    assert bar.list[0].data == 'bar'
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl_binders.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl_binders.cpp
new file mode 100644
index 0000000..1c0df98
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl_binders.cpp
@@ -0,0 +1,129 @@
+/*
+    tests/test_stl_binders.cpp -- Usage of stl_binders functions
+
+    Copyright (c) 2016 Sergey Lyskov
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+#include <pybind11/stl_bind.h>
+#include <pybind11/numpy.h>
+#include <map>
+#include <deque>
+#include <unordered_map>
+
+class El {
+public:
+    El() = delete;
+    El(int v) : a(v) { }
+
+    int a;
+};
+
+std::ostream & operator<<(std::ostream &s, El const&v) {
+    s << "El{" << v.a << '}';
+    return s;
+}
+
+/// Issue #487: binding std::vector<E> with E non-copyable
+class E_nc {
+public:
+    explicit E_nc(int i) : value{i} {}
+    E_nc(const E_nc &) = delete;
+    E_nc &operator=(const E_nc &) = delete;
+    E_nc(E_nc &&) = default;
+    E_nc &operator=(E_nc &&) = default;
+
+    int value;
+};
+
+template <class Container> Container *one_to_n(int n) {
+    auto v = new Container();
+    for (int i = 1; i <= n; i++)
+        v->emplace_back(i);
+    return v;
+}
+
+template <class Map> Map *times_ten(int n) {
+    auto m = new Map();
+    for (int i = 1; i <= n; i++)
+        m->emplace(int(i), E_nc(10*i));
+    return m;
+}
+
+template <class NestMap> NestMap *times_hundred(int n) {
+    auto m = new NestMap();
+    for (int i = 1; i <= n; i++)
+        for (int j = 1; j <= n; j++)
+            (*m)[i].emplace(int(j*10), E_nc(100*j));
+    return m;
+}
+
+TEST_SUBMODULE(stl_binders, m) {
+    // test_vector_int
+    py::bind_vector<std::vector<unsigned int>>(m, "VectorInt", py::buffer_protocol());
+
+    // test_vector_custom
+    py::class_<El>(m, "El")
+        .def(py::init<int>());
+    py::bind_vector<std::vector<El>>(m, "VectorEl");
+    py::bind_vector<std::vector<std::vector<El>>>(m, "VectorVectorEl");
+
+    // test_map_string_double
+    py::bind_map<std::map<std::string, double>>(m, "MapStringDouble");
+    py::bind_map<std::unordered_map<std::string, double>>(m, "UnorderedMapStringDouble");
+
+    // test_map_string_double_const
+    py::bind_map<std::map<std::string, double const>>(m, "MapStringDoubleConst");
+    py::bind_map<std::unordered_map<std::string, double const>>(m, "UnorderedMapStringDoubleConst");
+
+    py::class_<E_nc>(m, "ENC")
+        .def(py::init<int>())
+        .def_readwrite("value", &E_nc::value);
+
+    // test_noncopyable_containers
+    py::bind_vector<std::vector<E_nc>>(m, "VectorENC");
+    m.def("get_vnc", &one_to_n<std::vector<E_nc>>, py::return_value_policy::reference);
+    py::bind_vector<std::deque<E_nc>>(m, "DequeENC");
+    m.def("get_dnc", &one_to_n<std::deque<E_nc>>, py::return_value_policy::reference);
+    py::bind_map<std::map<int, E_nc>>(m, "MapENC");
+    m.def("get_mnc", &times_ten<std::map<int, E_nc>>, py::return_value_policy::reference);
+    py::bind_map<std::unordered_map<int, E_nc>>(m, "UmapENC");
+    m.def("get_umnc", &times_ten<std::unordered_map<int, E_nc>>, py::return_value_policy::reference);
+    // Issue #1885: binding nested std::map<X, Container<E>> with E non-copyable
+    py::bind_map<std::map<int, std::vector<E_nc>>>(m, "MapVecENC");
+    m.def("get_nvnc", [](int n)
+        {
+            auto m = new std::map<int, std::vector<E_nc>>();
+            for (int i = 1; i <= n; i++)
+                for (int j = 1; j <= n; j++)
+                    (*m)[i].emplace_back(j);
+            return m;
+        }, py::return_value_policy::reference);
+    py::bind_map<std::map<int, std::map<int, E_nc>>>(m, "MapMapENC");
+    m.def("get_nmnc", &times_hundred<std::map<int, std::map<int, E_nc>>>, py::return_value_policy::reference);
+    py::bind_map<std::unordered_map<int, std::unordered_map<int, E_nc>>>(m, "UmapUmapENC");
+    m.def("get_numnc", &times_hundred<std::unordered_map<int, std::unordered_map<int, E_nc>>>, py::return_value_policy::reference);
+
+    // test_vector_buffer
+    py::bind_vector<std::vector<unsigned char>>(m, "VectorUChar", py::buffer_protocol());
+    // no dtype declared for this version:
+    struct VUndeclStruct { bool w; uint32_t x; double y; bool z; };
+    m.def("create_undeclstruct", [m] () mutable {
+        py::bind_vector<std::vector<VUndeclStruct>>(m, "VectorUndeclStruct", py::buffer_protocol());
+    });
+
+    // The rest depends on numpy:
+    try { py::module_::import("numpy"); }
+    catch (...) { return; }
+
+    // test_vector_buffer_numpy
+    struct VStruct { bool w; uint32_t x; double y; bool z; };
+    PYBIND11_NUMPY_DTYPE(VStruct, w, x, y, z);
+    py::class_<VStruct>(m, "VStruct").def_readwrite("x", &VStruct::x);
+    py::bind_vector<std::vector<VStruct>>(m, "VectorStruct", py::buffer_protocol());
+    m.def("get_vectorstruct", [] {return std::vector<VStruct> {{0, 5, 3.0, 1}, {1, 30, -1e4, 0}};});
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl_binders.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl_binders.py
new file mode 100644
index 0000000..f9b8ea4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_stl_binders.py
@@ -0,0 +1,285 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+from pybind11_tests import stl_binders as m
+
+
+def test_vector_int():
+    v_int = m.VectorInt([0, 0])
+    assert len(v_int) == 2
+    assert bool(v_int) is True
+
+    # test construction from a generator
+    v_int1 = m.VectorInt(x for x in range(5))
+    assert v_int1 == m.VectorInt([0, 1, 2, 3, 4])
+
+    v_int2 = m.VectorInt([0, 0])
+    assert v_int == v_int2
+    v_int2[1] = 1
+    assert v_int != v_int2
+
+    v_int2.append(2)
+    v_int2.insert(0, 1)
+    v_int2.insert(0, 2)
+    v_int2.insert(0, 3)
+    v_int2.insert(6, 3)
+    assert str(v_int2) == "VectorInt[3, 2, 1, 0, 1, 2, 3]"
+    with pytest.raises(IndexError):
+        v_int2.insert(8, 4)
+
+    v_int.append(99)
+    v_int2[2:-2] = v_int
+    assert v_int2 == m.VectorInt([3, 2, 0, 0, 99, 2, 3])
+    del v_int2[1:3]
+    assert v_int2 == m.VectorInt([3, 0, 99, 2, 3])
+    del v_int2[0]
+    assert v_int2 == m.VectorInt([0, 99, 2, 3])
+
+    v_int2.extend(m.VectorInt([4, 5]))
+    assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5])
+
+    v_int2.extend([6, 7])
+    assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5, 6, 7])
+
+    # test error handling, and that the vector is unchanged
+    with pytest.raises(RuntimeError):
+        v_int2.extend([8, 'a'])
+
+    assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5, 6, 7])
+
+    # test extending from a generator
+    v_int2.extend(x for x in range(5))
+    assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5, 6, 7, 0, 1, 2, 3, 4])
+
+    # test negative indexing
+    assert v_int2[-1] == 4
+
+    # insert with negative index
+    v_int2.insert(-1, 88)
+    assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5, 6, 7, 0, 1, 2, 3, 88, 4])
+
+    # delete negative index
+    del v_int2[-1]
+    assert v_int2 == m.VectorInt([0, 99, 2, 3, 4, 5, 6, 7, 0, 1, 2, 3, 88])
+
+    v_int2.clear()
+    assert len(v_int2) == 0
+
+
+# Older PyPy's failed here, related to the PyPy's buffer protocol.
+def test_vector_buffer():
+    b = bytearray([1, 2, 3, 4])
+    v = m.VectorUChar(b)
+    assert v[1] == 2
+    v[2] = 5
+    mv = memoryview(v)  # We expose the buffer interface
+    if not env.PY2:
+        assert mv[2] == 5
+        mv[2] = 6
+    else:
+        assert mv[2] == '\x05'
+        mv[2] = '\x06'
+    assert v[2] == 6
+
+    if not env.PY2:
+        mv = memoryview(b)
+        v = m.VectorUChar(mv[::2])
+        assert v[1] == 3
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.create_undeclstruct()  # Undeclared struct contents, no buffer interface
+    assert "NumPy type info missing for " in str(excinfo.value)
+
+
+def test_vector_buffer_numpy():
+    np = pytest.importorskip("numpy")
+    a = np.array([1, 2, 3, 4], dtype=np.int32)
+    with pytest.raises(TypeError):
+        m.VectorInt(a)
+
+    a = np.array([[1, 2, 3, 4], [5, 6, 7, 8], [9, 10, 11, 12]], dtype=np.uintc)
+    v = m.VectorInt(a[0, :])
+    assert len(v) == 4
+    assert v[2] == 3
+    ma = np.asarray(v)
+    ma[2] = 5
+    assert v[2] == 5
+
+    v = m.VectorInt(a[:, 1])
+    assert len(v) == 3
+    assert v[2] == 10
+
+    v = m.get_vectorstruct()
+    assert v[0].x == 5
+    ma = np.asarray(v)
+    ma[1]['x'] = 99
+    assert v[1].x == 99
+
+    v = m.VectorStruct(np.zeros(3, dtype=np.dtype([('w', 'bool'), ('x', 'I'),
+                                                   ('y', 'float64'), ('z', 'bool')], align=True)))
+    assert len(v) == 3
+
+    b = np.array([1, 2, 3, 4], dtype=np.uint8)
+    v = m.VectorUChar(b[::2])
+    assert v[1] == 3
+
+
+def test_vector_bool():
+    import pybind11_cross_module_tests as cm
+
+    vv_c = cm.VectorBool()
+    for i in range(10):
+        vv_c.append(i % 2 == 0)
+    for i in range(10):
+        assert vv_c[i] == (i % 2 == 0)
+    assert str(vv_c) == "VectorBool[1, 0, 1, 0, 1, 0, 1, 0, 1, 0]"
+
+
+def test_vector_custom():
+    v_a = m.VectorEl()
+    v_a.append(m.El(1))
+    v_a.append(m.El(2))
+    assert str(v_a) == "VectorEl[El{1}, El{2}]"
+
+    vv_a = m.VectorVectorEl()
+    vv_a.append(v_a)
+    vv_b = vv_a[0]
+    assert str(vv_b) == "VectorEl[El{1}, El{2}]"
+
+
+def test_map_string_double():
+    mm = m.MapStringDouble()
+    mm['a'] = 1
+    mm['b'] = 2.5
+
+    assert list(mm) == ['a', 'b']
+    assert list(mm.items()) == [('a', 1), ('b', 2.5)]
+    assert str(mm) == "MapStringDouble{a: 1, b: 2.5}"
+
+    um = m.UnorderedMapStringDouble()
+    um['ua'] = 1.1
+    um['ub'] = 2.6
+
+    assert sorted(list(um)) == ['ua', 'ub']
+    assert sorted(list(um.items())) == [('ua', 1.1), ('ub', 2.6)]
+    assert "UnorderedMapStringDouble" in str(um)
+
+
+def test_map_string_double_const():
+    mc = m.MapStringDoubleConst()
+    mc['a'] = 10
+    mc['b'] = 20.5
+    assert str(mc) == "MapStringDoubleConst{a: 10, b: 20.5}"
+
+    umc = m.UnorderedMapStringDoubleConst()
+    umc['a'] = 11
+    umc['b'] = 21.5
+
+    str(umc)
+
+
+def test_noncopyable_containers():
+    # std::vector
+    vnc = m.get_vnc(5)
+    for i in range(0, 5):
+        assert vnc[i].value == i + 1
+
+    for i, j in enumerate(vnc, start=1):
+        assert j.value == i
+
+    # std::deque
+    dnc = m.get_dnc(5)
+    for i in range(0, 5):
+        assert dnc[i].value == i + 1
+
+    i = 1
+    for j in dnc:
+        assert(j.value == i)
+        i += 1
+
+    # std::map
+    mnc = m.get_mnc(5)
+    for i in range(1, 6):
+        assert mnc[i].value == 10 * i
+
+    vsum = 0
+    for k, v in mnc.items():
+        assert v.value == 10 * k
+        vsum += v.value
+
+    assert vsum == 150
+
+    # std::unordered_map
+    mnc = m.get_umnc(5)
+    for i in range(1, 6):
+        assert mnc[i].value == 10 * i
+
+    vsum = 0
+    for k, v in mnc.items():
+        assert v.value == 10 * k
+        vsum += v.value
+
+    assert vsum == 150
+
+    # nested std::map<std::vector>
+    nvnc = m.get_nvnc(5)
+    for i in range(1, 6):
+        for j in range(0, 5):
+            assert nvnc[i][j].value == j + 1
+
+    # Note: maps do not have .values()
+    for _, v in nvnc.items():
+        for i, j in enumerate(v, start=1):
+            assert j.value == i
+
+    # nested std::map<std::map>
+    nmnc = m.get_nmnc(5)
+    for i in range(1, 6):
+        for j in range(10, 60, 10):
+            assert nmnc[i][j].value == 10 * j
+
+    vsum = 0
+    for _, v_o in nmnc.items():
+        for k_i, v_i in v_o.items():
+            assert v_i.value == 10 * k_i
+            vsum += v_i.value
+
+    assert vsum == 7500
+
+    # nested std::unordered_map<std::unordered_map>
+    numnc = m.get_numnc(5)
+    for i in range(1, 6):
+        for j in range(10, 60, 10):
+            assert numnc[i][j].value == 10 * j
+
+    vsum = 0
+    for _, v_o in numnc.items():
+        for k_i, v_i in v_o.items():
+            assert v_i.value == 10 * k_i
+            vsum += v_i.value
+
+    assert vsum == 7500
+
+
+def test_map_delitem():
+    mm = m.MapStringDouble()
+    mm['a'] = 1
+    mm['b'] = 2.5
+
+    assert list(mm) == ['a', 'b']
+    assert list(mm.items()) == [('a', 1), ('b', 2.5)]
+    del mm['a']
+    assert list(mm) == ['b']
+    assert list(mm.items()) == [('b', 2.5)]
+
+    um = m.UnorderedMapStringDouble()
+    um['ua'] = 1.1
+    um['ub'] = 2.6
+
+    assert sorted(list(um)) == ['ua', 'ub']
+    assert sorted(list(um.items())) == [('ua', 1.1), ('ub', 2.6)]
+    del um['ua']
+    assert sorted(list(um)) == ['ub']
+    assert sorted(list(um.items())) == [('ub', 2.6)]
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_tagbased_polymorphic.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_tagbased_polymorphic.cpp
new file mode 100644
index 0000000..838a168
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_tagbased_polymorphic.cpp
@@ -0,0 +1,142 @@
+/*
+    tests/test_tagbased_polymorphic.cpp -- test of polymorphic_type_hook
+
+    Copyright (c) 2018 Hudson River Trading LLC <opensource@hudson-trading.com>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include <pybind11/stl.h>
+
+struct Animal
+{
+    // Make this type also a "standard" polymorphic type, to confirm that
+    // specializing polymorphic_type_hook using enable_if_t still works
+    // (https://github.com/pybind/pybind11/pull/2016/).
+    virtual ~Animal() = default;
+
+    // Enum for tag-based polymorphism.
+    enum class Kind {
+        Unknown = 0,
+        Dog = 100, Labrador, Chihuahua, LastDog = 199,
+        Cat = 200, Panther, LastCat = 299
+    };
+    static const std::type_info* type_of_kind(Kind kind);
+    static std::string name_of_kind(Kind kind);
+
+    const Kind kind;
+    const std::string name;
+
+  protected:
+    Animal(const std::string& _name, Kind _kind)
+        : kind(_kind), name(_name)
+    {}
+};
+
+struct Dog : Animal
+{
+    Dog(const std::string& _name, Kind _kind = Kind::Dog) : Animal(_name, _kind) {}
+    std::string bark() const { return name_of_kind(kind) + " " + name + " goes " + sound; }
+    std::string sound = "WOOF!";
+};
+
+struct Labrador : Dog
+{
+    Labrador(const std::string& _name, int _excitement = 9001)
+        : Dog(_name, Kind::Labrador), excitement(_excitement) {}
+    int excitement;
+};
+
+struct Chihuahua : Dog
+{
+    Chihuahua(const std::string& _name) : Dog(_name, Kind::Chihuahua) { sound = "iyiyiyiyiyi"; }
+    std::string bark() const { return Dog::bark() + " and runs in circles"; }
+};
+
+struct Cat : Animal
+{
+    Cat(const std::string& _name, Kind _kind = Kind::Cat) : Animal(_name, _kind) {}
+    std::string purr() const { return "mrowr"; }
+};
+
+struct Panther : Cat
+{
+    Panther(const std::string& _name) : Cat(_name, Kind::Panther) {}
+    std::string purr() const { return "mrrrRRRRRR"; }
+};
+
+std::vector<std::unique_ptr<Animal>> create_zoo()
+{
+    std::vector<std::unique_ptr<Animal>> ret;
+    ret.emplace_back(new Labrador("Fido", 15000));
+
+    // simulate some new type of Dog that the Python bindings
+    // haven't been updated for; it should still be considered
+    // a Dog, not just an Animal.
+    ret.emplace_back(new Dog("Ginger", Dog::Kind(150)));
+
+    ret.emplace_back(new Chihuahua("Hertzl"));
+    ret.emplace_back(new Cat("Tiger", Cat::Kind::Cat));
+    ret.emplace_back(new Panther("Leo"));
+    return ret;
+}
+
+const std::type_info* Animal::type_of_kind(Kind kind)
+{
+    switch (kind) {
+        case Kind::Unknown: break;
+
+        case Kind::Dog: break;
+        case Kind::Labrador: return &typeid(Labrador);
+        case Kind::Chihuahua: return &typeid(Chihuahua);
+        case Kind::LastDog: break;
+
+        case Kind::Cat: break;
+        case Kind::Panther: return &typeid(Panther);
+        case Kind::LastCat: break;
+    }
+
+    if (kind >= Kind::Dog && kind <= Kind::LastDog) return &typeid(Dog);
+    if (kind >= Kind::Cat && kind <= Kind::LastCat) return &typeid(Cat);
+    return nullptr;
+}
+
+std::string Animal::name_of_kind(Kind kind)
+{
+    std::string raw_name = type_of_kind(kind)->name();
+    py::detail::clean_type_id(raw_name);
+    return raw_name;
+}
+
+namespace pybind11 {
+    template <typename itype>
+    struct polymorphic_type_hook<itype, detail::enable_if_t<std::is_base_of<Animal, itype>::value>>
+    {
+        static const void *get(const itype *src, const std::type_info*& type)
+        { type = src ? Animal::type_of_kind(src->kind) : nullptr; return src; }
+    };
+} // namespace pybind11
+
+TEST_SUBMODULE(tagbased_polymorphic, m) {
+    py::class_<Animal>(m, "Animal")
+        .def_readonly("name", &Animal::name);
+    py::class_<Dog, Animal>(m, "Dog")
+        .def(py::init<std::string>())
+        .def_readwrite("sound", &Dog::sound)
+        .def("bark", &Dog::bark);
+    py::class_<Labrador, Dog>(m, "Labrador")
+        .def(py::init<std::string, int>(), "name"_a, "excitement"_a = 9001)
+        .def_readwrite("excitement", &Labrador::excitement);
+    py::class_<Chihuahua, Dog>(m, "Chihuahua")
+        .def(py::init<std::string>())
+        .def("bark", &Chihuahua::bark);
+    py::class_<Cat, Animal>(m, "Cat")
+        .def(py::init<std::string>())
+        .def("purr", &Cat::purr);
+    py::class_<Panther, Cat>(m, "Panther")
+        .def(py::init<std::string>())
+        .def("purr", &Panther::purr);
+    m.def("create_zoo", &create_zoo);
+};
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_tagbased_polymorphic.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_tagbased_polymorphic.py
new file mode 100644
index 0000000..94f374d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_tagbased_polymorphic.py
@@ -0,0 +1,21 @@
+# -*- coding: utf-8 -*-
+from pybind11_tests import tagbased_polymorphic as m
+
+
+def test_downcast():
+    zoo = m.create_zoo()
+    assert [type(animal) for animal in zoo] == [
+        m.Labrador, m.Dog, m.Chihuahua, m.Cat, m.Panther
+    ]
+    assert [animal.name for animal in zoo] == [
+        "Fido", "Ginger", "Hertzl", "Tiger", "Leo"
+    ]
+    zoo[1].sound = "woooooo"
+    assert [dog.bark() for dog in zoo[:3]] == [
+        "Labrador Fido goes WOOF!",
+        "Dog Ginger goes woooooo",
+        "Chihuahua Hertzl goes iyiyiyiyiyi and runs in circles"
+    ]
+    assert [cat.purr() for cat in zoo[3:]] == ["mrowr", "mrrrRRRRRR"]
+    zoo[0].excitement -= 1000
+    assert zoo[0].excitement == 14000
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_union.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_union.cpp
new file mode 100644
index 0000000..7b98ea2
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_union.cpp
@@ -0,0 +1,22 @@
+/*
+    tests/test_class.cpp -- test py::class_ definitions and basic functionality
+
+    Copyright (c) 2019 Roland Dreier <roland.dreier@gmail.com>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+
+TEST_SUBMODULE(union_, m) {
+    union TestUnion {
+        int value_int;
+        unsigned value_uint;
+    };
+
+    py::class_<TestUnion>(m, "TestUnion")
+        .def(py::init<>())
+        .def_readonly("as_int", &TestUnion::value_int)
+        .def_readwrite("as_uint", &TestUnion::value_uint);
+}
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_union.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_union.py
new file mode 100644
index 0000000..2a2c12f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_union.py
@@ -0,0 +1,9 @@
+# -*- coding: utf-8 -*-
+from pybind11_tests import union_ as m
+
+
+def test_union():
+    instance = m.TestUnion()
+
+    instance.as_uint = 10
+    assert instance.as_int == 10
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_virtual_functions.cpp b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_virtual_functions.cpp
new file mode 100644
index 0000000..685d64a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_virtual_functions.cpp
@@ -0,0 +1,498 @@
+/*
+    tests/test_virtual_functions.cpp -- overriding virtual functions from Python
+
+    Copyright (c) 2016 Wenzel Jakob <wenzel.jakob@epfl.ch>
+
+    All rights reserved. Use of this source code is governed by a
+    BSD-style license that can be found in the LICENSE file.
+*/
+
+#include "pybind11_tests.h"
+#include "constructor_stats.h"
+#include <pybind11/functional.h>
+#include <thread>
+
+/* This is an example class that we'll want to be able to extend from Python */
+class ExampleVirt  {
+public:
+    ExampleVirt(int state) : state(state) { print_created(this, state); }
+    ExampleVirt(const ExampleVirt &e) : state(e.state) { print_copy_created(this); }
+    ExampleVirt(ExampleVirt &&e) : state(e.state) { print_move_created(this); e.state = 0; }
+    virtual ~ExampleVirt() { print_destroyed(this); }
+
+    virtual int run(int value) {
+        py::print("Original implementation of "
+                  "ExampleVirt::run(state={}, value={}, str1={}, str2={})"_s.format(state, value, get_string1(), *get_string2()));
+        return state + value;
+    }
+
+    virtual bool run_bool() = 0;
+    virtual void pure_virtual() = 0;
+
+    // Returning a reference/pointer to a type converted from python (numbers, strings, etc.) is a
+    // bit trickier, because the actual int& or std::string& or whatever only exists temporarily, so
+    // we have to handle it specially in the trampoline class (see below).
+    virtual const std::string &get_string1() { return str1; }
+    virtual const std::string *get_string2() { return &str2; }
+
+private:
+    int state;
+    const std::string str1{"default1"}, str2{"default2"};
+};
+
+/* This is a wrapper class that must be generated */
+class PyExampleVirt : public ExampleVirt {
+public:
+    using ExampleVirt::ExampleVirt; /* Inherit constructors */
+
+    int run(int value) override {
+        /* Generate wrapping code that enables native function overloading */
+        PYBIND11_OVERRIDE(
+            int,         /* Return type */
+            ExampleVirt, /* Parent class */
+            run,         /* Name of function */
+            value        /* Argument(s) */
+        );
+    }
+
+    bool run_bool() override {
+        PYBIND11_OVERRIDE_PURE(
+            bool,         /* Return type */
+            ExampleVirt,  /* Parent class */
+            run_bool,     /* Name of function */
+                          /* This function has no arguments. The trailing comma
+                             in the previous line is needed for some compilers */
+        );
+    }
+
+    void pure_virtual() override {
+        PYBIND11_OVERRIDE_PURE(
+            void,         /* Return type */
+            ExampleVirt,  /* Parent class */
+            pure_virtual, /* Name of function */
+                          /* This function has no arguments. The trailing comma
+                             in the previous line is needed for some compilers */
+        );
+    }
+
+    // We can return reference types for compatibility with C++ virtual interfaces that do so, but
+    // note they have some significant limitations (see the documentation).
+    const std::string &get_string1() override {
+        PYBIND11_OVERRIDE(
+            const std::string &, /* Return type */
+            ExampleVirt,         /* Parent class */
+            get_string1,         /* Name of function */
+                                 /* (no arguments) */
+        );
+    }
+
+    const std::string *get_string2() override {
+        PYBIND11_OVERRIDE(
+            const std::string *, /* Return type */
+            ExampleVirt,         /* Parent class */
+            get_string2,         /* Name of function */
+                                 /* (no arguments) */
+        );
+    }
+
+};
+
+class NonCopyable {
+public:
+    NonCopyable(int a, int b) : value{new int(a*b)} { print_created(this, a, b); }
+    NonCopyable(NonCopyable &&o) { value = std::move(o.value); print_move_created(this); }
+    NonCopyable(const NonCopyable &) = delete;
+    NonCopyable() = delete;
+    void operator=(const NonCopyable &) = delete;
+    void operator=(NonCopyable &&) = delete;
+    std::string get_value() const {
+        if (value) return std::to_string(*value); else return "(null)";
+    }
+    ~NonCopyable() { print_destroyed(this); }
+
+private:
+    std::unique_ptr<int> value;
+};
+
+// This is like the above, but is both copy and movable.  In effect this means it should get moved
+// when it is not referenced elsewhere, but copied if it is still referenced.
+class Movable {
+public:
+    Movable(int a, int b) : value{a+b} { print_created(this, a, b); }
+    Movable(const Movable &m) { value = m.value; print_copy_created(this); }
+    Movable(Movable &&m) { value = std::move(m.value); print_move_created(this); }
+    std::string get_value() const { return std::to_string(value); }
+    ~Movable() { print_destroyed(this); }
+private:
+    int value;
+};
+
+class NCVirt {
+public:
+    virtual ~NCVirt() = default;
+    NCVirt() = default;
+    NCVirt(const NCVirt&) = delete;
+    virtual NonCopyable get_noncopyable(int a, int b) { return NonCopyable(a, b); }
+    virtual Movable get_movable(int a, int b) = 0;
+
+    std::string print_nc(int a, int b) { return get_noncopyable(a, b).get_value(); }
+    std::string print_movable(int a, int b) { return get_movable(a, b).get_value(); }
+};
+class NCVirtTrampoline : public NCVirt {
+#if !defined(__INTEL_COMPILER) && !defined(__CUDACC__) && !defined(__PGIC__)
+    NonCopyable get_noncopyable(int a, int b) override {
+        PYBIND11_OVERRIDE(NonCopyable, NCVirt, get_noncopyable, a, b);
+    }
+#endif
+    Movable get_movable(int a, int b) override {
+        PYBIND11_OVERRIDE_PURE(Movable, NCVirt, get_movable, a, b);
+    }
+};
+
+struct Base {
+    /* for some reason MSVC2015 can't compile this if the function is pure virtual */
+    virtual std::string dispatch() const { return {}; };
+    virtual ~Base() = default;
+    Base() = default;
+    Base(const Base&) = delete;
+};
+
+struct DispatchIssue : Base {
+    std::string dispatch() const override {
+        PYBIND11_OVERRIDE_PURE(std::string, Base, dispatch, /* no arguments */);
+    }
+};
+
+static void test_gil() {
+    {
+        py::gil_scoped_acquire lock;
+        py::print("1st lock acquired");
+
+    }
+
+    {
+        py::gil_scoped_acquire lock;
+        py::print("2nd lock acquired");
+    }
+
+}
+
+static void test_gil_from_thread() {
+    py::gil_scoped_release release;
+
+    std::thread t(test_gil);
+    t.join();
+}
+
+
+// Forward declaration (so that we can put the main tests here; the inherited virtual approaches are
+// rather long).
+void initialize_inherited_virtuals(py::module_ &m);
+
+TEST_SUBMODULE(virtual_functions, m) {
+    // test_override
+    py::class_<ExampleVirt, PyExampleVirt>(m, "ExampleVirt")
+        .def(py::init<int>())
+        /* Reference original class in function definitions */
+        .def("run", &ExampleVirt::run)
+        .def("run_bool", &ExampleVirt::run_bool)
+        .def("pure_virtual", &ExampleVirt::pure_virtual);
+
+    py::class_<NonCopyable>(m, "NonCopyable")
+        .def(py::init<int, int>());
+
+    py::class_<Movable>(m, "Movable")
+        .def(py::init<int, int>());
+
+    // test_move_support
+#if !defined(__INTEL_COMPILER) && !defined(__CUDACC__) && !defined(__PGIC__)
+    py::class_<NCVirt, NCVirtTrampoline>(m, "NCVirt")
+        .def(py::init<>())
+        .def("get_noncopyable", &NCVirt::get_noncopyable)
+        .def("get_movable", &NCVirt::get_movable)
+        .def("print_nc", &NCVirt::print_nc)
+        .def("print_movable", &NCVirt::print_movable);
+#endif
+
+    m.def("runExampleVirt", [](ExampleVirt *ex, int value) { return ex->run(value); });
+    m.def("runExampleVirtBool", [](ExampleVirt* ex) { return ex->run_bool(); });
+    m.def("runExampleVirtVirtual", [](ExampleVirt *ex) { ex->pure_virtual(); });
+
+    m.def("cstats_debug", &ConstructorStats::get<ExampleVirt>);
+    initialize_inherited_virtuals(m);
+
+    // test_alias_delay_initialization1
+    // don't invoke Python dispatch classes by default when instantiating C++ classes
+    // that were not extended on the Python side
+    struct A {
+        A() = default;
+        A(const A&) = delete;
+        virtual ~A() = default;
+        virtual void f() { py::print("A.f()"); }
+    };
+
+    struct PyA : A {
+        PyA() { py::print("PyA.PyA()"); }
+        PyA(const PyA&) = delete;
+        ~PyA() override { py::print("PyA.~PyA()"); }
+
+        void f() override {
+            py::print("PyA.f()");
+            // This convolution just gives a `void`, but tests that PYBIND11_TYPE() works to protect
+            // a type containing a ,
+            PYBIND11_OVERRIDE(PYBIND11_TYPE(typename std::enable_if<true, void>::type), A, f);
+        }
+    };
+
+    py::class_<A, PyA>(m, "A")
+        .def(py::init<>())
+        .def("f", &A::f);
+
+    m.def("call_f", [](A *a) { a->f(); });
+
+    // test_alias_delay_initialization2
+    // ... unless we explicitly request it, as in this example:
+    struct A2 {
+        A2() = default;
+        A2(const A2&) = delete;
+        virtual ~A2() = default;
+        virtual void f() { py::print("A2.f()"); }
+    };
+
+    struct PyA2 : A2 {
+        PyA2() { py::print("PyA2.PyA2()"); }
+        PyA2(const PyA2&) = delete;
+        ~PyA2() override { py::print("PyA2.~PyA2()"); }
+        void f() override {
+            py::print("PyA2.f()");
+            PYBIND11_OVERRIDE(void, A2, f);
+        }
+    };
+
+    py::class_<A2, PyA2>(m, "A2")
+        .def(py::init_alias<>())
+        .def(py::init([](int) { return new PyA2(); }))
+        .def("f", &A2::f);
+
+    m.def("call_f", [](A2 *a2) { a2->f(); });
+
+    // test_dispatch_issue
+    // #159: virtual function dispatch has problems with similar-named functions
+    py::class_<Base, DispatchIssue>(m, "DispatchIssue")
+        .def(py::init<>())
+        .def("dispatch", &Base::dispatch);
+
+    m.def("dispatch_issue_go", [](const Base * b) { return b->dispatch(); });
+
+    // test_override_ref
+    // #392/397: overriding reference-returning functions
+    class OverrideTest {
+    public:
+        struct A { std::string value = "hi"; };
+        std::string v;
+        A a;
+        explicit OverrideTest(const std::string &v) : v{v} {}
+        OverrideTest() = default;
+        OverrideTest(const OverrideTest&) = delete;
+        virtual std::string str_value() { return v; }
+        virtual std::string &str_ref() { return v; }
+        virtual A A_value() { return a; }
+        virtual A &A_ref() { return a; }
+        virtual ~OverrideTest() = default;
+    };
+
+    class PyOverrideTest : public OverrideTest {
+    public:
+        using OverrideTest::OverrideTest;
+        std::string str_value() override { PYBIND11_OVERRIDE(std::string, OverrideTest, str_value); }
+        // Not allowed (uncommenting should hit a static_assert failure): we can't get a reference
+        // to a python numeric value, since we only copy values in the numeric type caster:
+//      std::string &str_ref() override { PYBIND11_OVERRIDE(std::string &, OverrideTest, str_ref); }
+        // But we can work around it like this:
+    private:
+        std::string _tmp;
+        std::string str_ref_helper() { PYBIND11_OVERRIDE(std::string, OverrideTest, str_ref); }
+    public:
+        std::string &str_ref() override { return _tmp = str_ref_helper(); }
+
+        A A_value() override { PYBIND11_OVERRIDE(A, OverrideTest, A_value); }
+        A &A_ref() override { PYBIND11_OVERRIDE(A &, OverrideTest, A_ref); }
+    };
+
+    py::class_<OverrideTest::A>(m, "OverrideTest_A")
+        .def_readwrite("value", &OverrideTest::A::value);
+    py::class_<OverrideTest, PyOverrideTest>(m, "OverrideTest")
+        .def(py::init<const std::string &>())
+        .def("str_value", &OverrideTest::str_value)
+//      .def("str_ref", &OverrideTest::str_ref)
+        .def("A_value", &OverrideTest::A_value)
+        .def("A_ref", &OverrideTest::A_ref);
+}
+
+
+// Inheriting virtual methods.  We do two versions here: the repeat-everything version and the
+// templated trampoline versions mentioned in docs/advanced.rst.
+//
+// These base classes are exactly the same, but we technically need distinct
+// classes for this example code because we need to be able to bind them
+// properly (pybind11, sensibly, doesn't allow us to bind the same C++ class to
+// multiple python classes).
+class A_Repeat {
+#define A_METHODS \
+public: \
+    virtual int unlucky_number() = 0; \
+    virtual std::string say_something(unsigned times) { \
+        std::string s = ""; \
+        for (unsigned i = 0; i < times; ++i) \
+            s += "hi"; \
+        return s; \
+    } \
+    std::string say_everything() { \
+        return say_something(1) + " " + std::to_string(unlucky_number()); \
+    }
+A_METHODS
+    A_Repeat() = default;
+    A_Repeat(const A_Repeat&) = delete;
+    virtual ~A_Repeat() = default;
+};
+class B_Repeat : public A_Repeat {
+#define B_METHODS \
+public: \
+    int unlucky_number() override { return 13; } \
+    std::string say_something(unsigned times) override { \
+        return "B says hi " + std::to_string(times) + " times"; \
+    } \
+    virtual double lucky_number() { return 7.0; }
+B_METHODS
+};
+class C_Repeat : public B_Repeat {
+#define C_METHODS \
+public: \
+    int unlucky_number() override { return 4444; } \
+    double lucky_number() override { return 888; }
+C_METHODS
+};
+class D_Repeat : public C_Repeat {
+#define D_METHODS // Nothing overridden.
+D_METHODS
+};
+
+// Base classes for templated inheritance trampolines.  Identical to the repeat-everything version:
+class A_Tpl {
+    A_METHODS;
+    A_Tpl() = default;
+    A_Tpl(const A_Tpl&) = delete;
+    virtual ~A_Tpl() = default;
+};
+class B_Tpl : public A_Tpl { B_METHODS };
+class C_Tpl : public B_Tpl { C_METHODS };
+class D_Tpl : public C_Tpl { D_METHODS };
+
+
+// Inheritance approach 1: each trampoline gets every virtual method (11 in total)
+class PyA_Repeat : public A_Repeat {
+public:
+    using A_Repeat::A_Repeat;
+    int unlucky_number() override { PYBIND11_OVERRIDE_PURE(int, A_Repeat, unlucky_number, ); }
+    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, A_Repeat, say_something, times); }
+};
+class PyB_Repeat : public B_Repeat {
+public:
+    using B_Repeat::B_Repeat;
+    int unlucky_number() override { PYBIND11_OVERRIDE(int, B_Repeat, unlucky_number, ); }
+    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, B_Repeat, say_something, times); }
+    double lucky_number() override { PYBIND11_OVERRIDE(double, B_Repeat, lucky_number, ); }
+};
+class PyC_Repeat : public C_Repeat {
+public:
+    using C_Repeat::C_Repeat;
+    int unlucky_number() override { PYBIND11_OVERRIDE(int, C_Repeat, unlucky_number, ); }
+    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, C_Repeat, say_something, times); }
+    double lucky_number() override { PYBIND11_OVERRIDE(double, C_Repeat, lucky_number, ); }
+};
+class PyD_Repeat : public D_Repeat {
+public:
+    using D_Repeat::D_Repeat;
+    int unlucky_number() override { PYBIND11_OVERRIDE(int, D_Repeat, unlucky_number, ); }
+    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, D_Repeat, say_something, times); }
+    double lucky_number() override { PYBIND11_OVERRIDE(double, D_Repeat, lucky_number, ); }
+};
+
+// Inheritance approach 2: templated trampoline classes.
+//
+// Advantages:
+// - we have only 2 (template) class and 4 method declarations (one per virtual method, plus one for
+//   any override of a pure virtual method), versus 4 classes and 6 methods (MI) or 4 classes and 11
+//   methods (repeat).
+// - Compared to MI, we also don't have to change the non-trampoline inheritance to virtual, and can
+//   properly inherit constructors.
+//
+// Disadvantage:
+// - the compiler must still generate and compile 14 different methods (more, even, than the 11
+//   required for the repeat approach) instead of the 6 required for MI.  (If there was no pure
+//   method (or no pure method override), the number would drop down to the same 11 as the repeat
+//   approach).
+template <class Base = A_Tpl>
+class PyA_Tpl : public Base {
+public:
+    using Base::Base; // Inherit constructors
+    int unlucky_number() override { PYBIND11_OVERRIDE_PURE(int, Base, unlucky_number, ); }
+    std::string say_something(unsigned times) override { PYBIND11_OVERRIDE(std::string, Base, say_something, times); }
+};
+template <class Base = B_Tpl>
+class PyB_Tpl : public PyA_Tpl<Base> {
+public:
+    using PyA_Tpl<Base>::PyA_Tpl; // Inherit constructors (via PyA_Tpl's inherited constructors)
+    int unlucky_number() override { PYBIND11_OVERRIDE(int, Base, unlucky_number, ); }
+    double lucky_number() override { PYBIND11_OVERRIDE(double, Base, lucky_number, ); }
+};
+// Since C_Tpl and D_Tpl don't declare any new virtual methods, we don't actually need these (we can
+// use PyB_Tpl<C_Tpl> and PyB_Tpl<D_Tpl> for the trampoline classes instead):
+/*
+template <class Base = C_Tpl> class PyC_Tpl : public PyB_Tpl<Base> {
+public:
+    using PyB_Tpl<Base>::PyB_Tpl;
+};
+template <class Base = D_Tpl> class PyD_Tpl : public PyC_Tpl<Base> {
+public:
+    using PyC_Tpl<Base>::PyC_Tpl;
+};
+*/
+
+void initialize_inherited_virtuals(py::module_ &m) {
+    // test_inherited_virtuals
+
+    // Method 1: repeat
+    py::class_<A_Repeat, PyA_Repeat>(m, "A_Repeat")
+        .def(py::init<>())
+        .def("unlucky_number", &A_Repeat::unlucky_number)
+        .def("say_something", &A_Repeat::say_something)
+        .def("say_everything", &A_Repeat::say_everything);
+    py::class_<B_Repeat, A_Repeat, PyB_Repeat>(m, "B_Repeat")
+        .def(py::init<>())
+        .def("lucky_number", &B_Repeat::lucky_number);
+    py::class_<C_Repeat, B_Repeat, PyC_Repeat>(m, "C_Repeat")
+        .def(py::init<>());
+    py::class_<D_Repeat, C_Repeat, PyD_Repeat>(m, "D_Repeat")
+        .def(py::init<>());
+
+    // test_
+    // Method 2: Templated trampolines
+    py::class_<A_Tpl, PyA_Tpl<>>(m, "A_Tpl")
+        .def(py::init<>())
+        .def("unlucky_number", &A_Tpl::unlucky_number)
+        .def("say_something", &A_Tpl::say_something)
+        .def("say_everything", &A_Tpl::say_everything);
+    py::class_<B_Tpl, A_Tpl, PyB_Tpl<>>(m, "B_Tpl")
+        .def(py::init<>())
+        .def("lucky_number", &B_Tpl::lucky_number);
+    py::class_<C_Tpl, B_Tpl, PyB_Tpl<C_Tpl>>(m, "C_Tpl")
+        .def(py::init<>());
+    py::class_<D_Tpl, C_Tpl, PyB_Tpl<D_Tpl>>(m, "D_Tpl")
+        .def(py::init<>());
+
+
+    // Fix issue #1454 (crash when acquiring/releasing GIL on another thread in Python 2.7)
+    m.def("test_gil", &test_gil);
+    m.def("test_gil_from_thread", &test_gil_from_thread);
+};
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_virtual_functions.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_virtual_functions.py
new file mode 100644
index 0000000..66a353a
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tests/test_virtual_functions.py
@@ -0,0 +1,380 @@
+# -*- coding: utf-8 -*-
+import pytest
+
+import env  # noqa: F401
+
+m = pytest.importorskip("pybind11_tests.virtual_functions")
+from pybind11_tests import ConstructorStats  # noqa: E402
+
+
+def test_override(capture, msg):
+    class ExtendedExampleVirt(m.ExampleVirt):
+        def __init__(self, state):
+            super(ExtendedExampleVirt, self).__init__(state + 1)
+            self.data = "Hello world"
+
+        def run(self, value):
+            print('ExtendedExampleVirt::run(%i), calling parent..' % value)
+            return super(ExtendedExampleVirt, self).run(value + 1)
+
+        def run_bool(self):
+            print('ExtendedExampleVirt::run_bool()')
+            return False
+
+        def get_string1(self):
+            return "override1"
+
+        def pure_virtual(self):
+            print('ExtendedExampleVirt::pure_virtual(): %s' % self.data)
+
+    class ExtendedExampleVirt2(ExtendedExampleVirt):
+        def __init__(self, state):
+            super(ExtendedExampleVirt2, self).__init__(state + 1)
+
+        def get_string2(self):
+            return "override2"
+
+    ex12 = m.ExampleVirt(10)
+    with capture:
+        assert m.runExampleVirt(ex12, 20) == 30
+    assert capture == """
+        Original implementation of ExampleVirt::run(state=10, value=20, str1=default1, str2=default2)
+    """  # noqa: E501 line too long
+
+    with pytest.raises(RuntimeError) as excinfo:
+        m.runExampleVirtVirtual(ex12)
+    assert msg(excinfo.value) == 'Tried to call pure virtual function "ExampleVirt::pure_virtual"'
+
+    ex12p = ExtendedExampleVirt(10)
+    with capture:
+        assert m.runExampleVirt(ex12p, 20) == 32
+    assert capture == """
+        ExtendedExampleVirt::run(20), calling parent..
+        Original implementation of ExampleVirt::run(state=11, value=21, str1=override1, str2=default2)
+    """  # noqa: E501 line too long
+    with capture:
+        assert m.runExampleVirtBool(ex12p) is False
+    assert capture == "ExtendedExampleVirt::run_bool()"
+    with capture:
+        m.runExampleVirtVirtual(ex12p)
+    assert capture == "ExtendedExampleVirt::pure_virtual(): Hello world"
+
+    ex12p2 = ExtendedExampleVirt2(15)
+    with capture:
+        assert m.runExampleVirt(ex12p2, 50) == 68
+    assert capture == """
+        ExtendedExampleVirt::run(50), calling parent..
+        Original implementation of ExampleVirt::run(state=17, value=51, str1=override1, str2=override2)
+    """  # noqa: E501 line too long
+
+    cstats = ConstructorStats.get(m.ExampleVirt)
+    assert cstats.alive() == 3
+    del ex12, ex12p, ex12p2
+    assert cstats.alive() == 0
+    assert cstats.values() == ['10', '11', '17']
+    assert cstats.copy_constructions == 0
+    assert cstats.move_constructions >= 0
+
+
+def test_alias_delay_initialization1(capture):
+    """`A` only initializes its trampoline class when we inherit from it
+
+    If we just create and use an A instance directly, the trampoline initialization is
+    bypassed and we only initialize an A() instead (for performance reasons).
+    """
+    class B(m.A):
+        def __init__(self):
+            super(B, self).__init__()
+
+        def f(self):
+            print("In python f()")
+
+    # C++ version
+    with capture:
+        a = m.A()
+        m.call_f(a)
+        del a
+        pytest.gc_collect()
+    assert capture == "A.f()"
+
+    # Python version
+    with capture:
+        b = B()
+        m.call_f(b)
+        del b
+        pytest.gc_collect()
+    assert capture == """
+        PyA.PyA()
+        PyA.f()
+        In python f()
+        PyA.~PyA()
+    """
+
+
+def test_alias_delay_initialization2(capture):
+    """`A2`, unlike the above, is configured to always initialize the alias
+
+    While the extra initialization and extra class layer has small virtual dispatch
+    performance penalty, it also allows us to do more things with the trampoline
+    class such as defining local variables and performing construction/destruction.
+    """
+    class B2(m.A2):
+        def __init__(self):
+            super(B2, self).__init__()
+
+        def f(self):
+            print("In python B2.f()")
+
+    # No python subclass version
+    with capture:
+        a2 = m.A2()
+        m.call_f(a2)
+        del a2
+        pytest.gc_collect()
+        a3 = m.A2(1)
+        m.call_f(a3)
+        del a3
+        pytest.gc_collect()
+    assert capture == """
+        PyA2.PyA2()
+        PyA2.f()
+        A2.f()
+        PyA2.~PyA2()
+        PyA2.PyA2()
+        PyA2.f()
+        A2.f()
+        PyA2.~PyA2()
+    """
+
+    # Python subclass version
+    with capture:
+        b2 = B2()
+        m.call_f(b2)
+        del b2
+        pytest.gc_collect()
+    assert capture == """
+        PyA2.PyA2()
+        PyA2.f()
+        In python B2.f()
+        PyA2.~PyA2()
+    """
+
+
+# PyPy: Reference count > 1 causes call with noncopyable instance
+# to fail in ncv1.print_nc()
+@pytest.mark.xfail("env.PYPY")
+@pytest.mark.skipif(not hasattr(m, "NCVirt"), reason="NCVirt test broken on ICPC")
+def test_move_support():
+    class NCVirtExt(m.NCVirt):
+        def get_noncopyable(self, a, b):
+            # Constructs and returns a new instance:
+            nc = m.NonCopyable(a * a, b * b)
+            return nc
+
+        def get_movable(self, a, b):
+            # Return a referenced copy
+            self.movable = m.Movable(a, b)
+            return self.movable
+
+    class NCVirtExt2(m.NCVirt):
+        def get_noncopyable(self, a, b):
+            # Keep a reference: this is going to throw an exception
+            self.nc = m.NonCopyable(a, b)
+            return self.nc
+
+        def get_movable(self, a, b):
+            # Return a new instance without storing it
+            return m.Movable(a, b)
+
+    ncv1 = NCVirtExt()
+    assert ncv1.print_nc(2, 3) == "36"
+    assert ncv1.print_movable(4, 5) == "9"
+    ncv2 = NCVirtExt2()
+    assert ncv2.print_movable(7, 7) == "14"
+    # Don't check the exception message here because it differs under debug/non-debug mode
+    with pytest.raises(RuntimeError):
+        ncv2.print_nc(9, 9)
+
+    nc_stats = ConstructorStats.get(m.NonCopyable)
+    mv_stats = ConstructorStats.get(m.Movable)
+    assert nc_stats.alive() == 1
+    assert mv_stats.alive() == 1
+    del ncv1, ncv2
+    assert nc_stats.alive() == 0
+    assert mv_stats.alive() == 0
+    assert nc_stats.values() == ['4', '9', '9', '9']
+    assert mv_stats.values() == ['4', '5', '7', '7']
+    assert nc_stats.copy_constructions == 0
+    assert mv_stats.copy_constructions == 1
+    assert nc_stats.move_constructions >= 0
+    assert mv_stats.move_constructions >= 0
+
+
+def test_dispatch_issue(msg):
+    """#159: virtual function dispatch has problems with similar-named functions"""
+    class PyClass1(m.DispatchIssue):
+        def dispatch(self):
+            return "Yay.."
+
+    class PyClass2(m.DispatchIssue):
+        def dispatch(self):
+            with pytest.raises(RuntimeError) as excinfo:
+                super(PyClass2, self).dispatch()
+            assert msg(excinfo.value) == 'Tried to call pure virtual function "Base::dispatch"'
+
+            p = PyClass1()
+            return m.dispatch_issue_go(p)
+
+    b = PyClass2()
+    assert m.dispatch_issue_go(b) == "Yay.."
+
+
+def test_override_ref():
+    """#392/397: overriding reference-returning functions"""
+    o = m.OverrideTest("asdf")
+
+    # Not allowed (see associated .cpp comment)
+    # i = o.str_ref()
+    # assert o.str_ref() == "asdf"
+    assert o.str_value() == "asdf"
+
+    assert o.A_value().value == "hi"
+    a = o.A_ref()
+    assert a.value == "hi"
+    a.value = "bye"
+    assert a.value == "bye"
+
+
+def test_inherited_virtuals():
+    class AR(m.A_Repeat):
+        def unlucky_number(self):
+            return 99
+
+    class AT(m.A_Tpl):
+        def unlucky_number(self):
+            return 999
+
+    obj = AR()
+    assert obj.say_something(3) == "hihihi"
+    assert obj.unlucky_number() == 99
+    assert obj.say_everything() == "hi 99"
+
+    obj = AT()
+    assert obj.say_something(3) == "hihihi"
+    assert obj.unlucky_number() == 999
+    assert obj.say_everything() == "hi 999"
+
+    for obj in [m.B_Repeat(), m.B_Tpl()]:
+        assert obj.say_something(3) == "B says hi 3 times"
+        assert obj.unlucky_number() == 13
+        assert obj.lucky_number() == 7.0
+        assert obj.say_everything() == "B says hi 1 times 13"
+
+    for obj in [m.C_Repeat(), m.C_Tpl()]:
+        assert obj.say_something(3) == "B says hi 3 times"
+        assert obj.unlucky_number() == 4444
+        assert obj.lucky_number() == 888.0
+        assert obj.say_everything() == "B says hi 1 times 4444"
+
+    class CR(m.C_Repeat):
+        def lucky_number(self):
+            return m.C_Repeat.lucky_number(self) + 1.25
+
+    obj = CR()
+    assert obj.say_something(3) == "B says hi 3 times"
+    assert obj.unlucky_number() == 4444
+    assert obj.lucky_number() == 889.25
+    assert obj.say_everything() == "B says hi 1 times 4444"
+
+    class CT(m.C_Tpl):
+        pass
+
+    obj = CT()
+    assert obj.say_something(3) == "B says hi 3 times"
+    assert obj.unlucky_number() == 4444
+    assert obj.lucky_number() == 888.0
+    assert obj.say_everything() == "B says hi 1 times 4444"
+
+    class CCR(CR):
+        def lucky_number(self):
+            return CR.lucky_number(self) * 10
+
+    obj = CCR()
+    assert obj.say_something(3) == "B says hi 3 times"
+    assert obj.unlucky_number() == 4444
+    assert obj.lucky_number() == 8892.5
+    assert obj.say_everything() == "B says hi 1 times 4444"
+
+    class CCT(CT):
+        def lucky_number(self):
+            return CT.lucky_number(self) * 1000
+
+    obj = CCT()
+    assert obj.say_something(3) == "B says hi 3 times"
+    assert obj.unlucky_number() == 4444
+    assert obj.lucky_number() == 888000.0
+    assert obj.say_everything() == "B says hi 1 times 4444"
+
+    class DR(m.D_Repeat):
+        def unlucky_number(self):
+            return 123
+
+        def lucky_number(self):
+            return 42.0
+
+    for obj in [m.D_Repeat(), m.D_Tpl()]:
+        assert obj.say_something(3) == "B says hi 3 times"
+        assert obj.unlucky_number() == 4444
+        assert obj.lucky_number() == 888.0
+        assert obj.say_everything() == "B says hi 1 times 4444"
+
+    obj = DR()
+    assert obj.say_something(3) == "B says hi 3 times"
+    assert obj.unlucky_number() == 123
+    assert obj.lucky_number() == 42.0
+    assert obj.say_everything() == "B says hi 1 times 123"
+
+    class DT(m.D_Tpl):
+        def say_something(self, times):
+            return "DT says:" + (' quack' * times)
+
+        def unlucky_number(self):
+            return 1234
+
+        def lucky_number(self):
+            return -4.25
+
+    obj = DT()
+    assert obj.say_something(3) == "DT says: quack quack quack"
+    assert obj.unlucky_number() == 1234
+    assert obj.lucky_number() == -4.25
+    assert obj.say_everything() == "DT says: quack 1234"
+
+    class DT2(DT):
+        def say_something(self, times):
+            return "DT2: " + ('QUACK' * times)
+
+        def unlucky_number(self):
+            return -3
+
+    class BT(m.B_Tpl):
+        def say_something(self, times):
+            return "BT" * times
+
+        def unlucky_number(self):
+            return -7
+
+        def lucky_number(self):
+            return -1.375
+
+    obj = BT()
+    assert obj.say_something(3) == "BTBTBT"
+    assert obj.unlucky_number() == -7
+    assert obj.lucky_number() == -1.375
+    assert obj.say_everything() == "BT -7"
+
+
+def test_issue_1454():
+    # Fix issue #1454 (crash when acquiring/releasing GIL on another thread in Python 2.7)
+    m.test_gil()
+    m.test_gil_from_thread()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindCatch.cmake b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindCatch.cmake
new file mode 100644
index 0000000..4d6bffc
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindCatch.cmake
@@ -0,0 +1,70 @@
+# - Find the Catch test framework or download it (single header)
+#
+# This is a quick module for internal use. It assumes that Catch is
+# REQUIRED and that a minimum version is provided (not EXACT). If
+# a suitable version isn't found locally, the single header file
+# will be downloaded and placed in the build dir: PROJECT_BINARY_DIR.
+#
+# This code sets the following variables:
+#  CATCH_INCLUDE_DIR      - path to catch.hpp
+#  CATCH_VERSION          - version number
+
+if(NOT Catch_FIND_VERSION)
+  message(FATAL_ERROR "A version number must be specified.")
+elseif(Catch_FIND_REQUIRED)
+  message(FATAL_ERROR "This module assumes Catch is not required.")
+elseif(Catch_FIND_VERSION_EXACT)
+  message(FATAL_ERROR "Exact version numbers are not supported, only minimum.")
+endif()
+
+# Extract the version number from catch.hpp
+function(_get_catch_version)
+  file(
+    STRINGS "${CATCH_INCLUDE_DIR}/catch.hpp" version_line
+    REGEX "Catch v.*"
+    LIMIT_COUNT 1)
+  if(version_line MATCHES "Catch v([0-9]+)\\.([0-9]+)\\.([0-9]+)")
+    set(CATCH_VERSION
+        "${CMAKE_MATCH_1}.${CMAKE_MATCH_2}.${CMAKE_MATCH_3}"
+        PARENT_SCOPE)
+  endif()
+endfunction()
+
+# Download the single-header version of Catch
+function(_download_catch version destination_dir)
+  message(STATUS "Downloading catch v${version}...")
+  set(url https://github.com/philsquared/Catch/releases/download/v${version}/catch.hpp)
+  file(DOWNLOAD ${url} "${destination_dir}/catch.hpp" STATUS status)
+  list(GET status 0 error)
+  if(error)
+    message(FATAL_ERROR "Could not download ${url}")
+  endif()
+  set(CATCH_INCLUDE_DIR
+      "${destination_dir}"
+      CACHE INTERNAL "")
+endfunction()
+
+# Look for catch locally
+find_path(
+  CATCH_INCLUDE_DIR
+  NAMES catch.hpp
+  PATH_SUFFIXES catch2)
+if(CATCH_INCLUDE_DIR)
+  _get_catch_version()
+endif()
+
+# Download the header if it wasn't found or if it's outdated
+if(NOT CATCH_VERSION OR CATCH_VERSION VERSION_LESS ${Catch_FIND_VERSION})
+  if(DOWNLOAD_CATCH)
+    _download_catch(${Catch_FIND_VERSION} "${PROJECT_BINARY_DIR}/catch/")
+    _get_catch_version()
+  else()
+    set(CATCH_FOUND FALSE)
+    return()
+  endif()
+endif()
+
+add_library(Catch2::Catch2 IMPORTED INTERFACE)
+set_property(TARGET Catch2::Catch2 PROPERTY INTERFACE_INCLUDE_DIRECTORIES "${CATCH_INCLUDE_DIR}")
+
+set(CATCH_FOUND TRUE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindEigen3.cmake b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindEigen3.cmake
new file mode 100644
index 0000000..98ab43d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindEigen3.cmake
@@ -0,0 +1,83 @@
+# - Try to find Eigen3 lib
+#
+# This module supports requiring a minimum version, e.g. you can do
+#   find_package(Eigen3 3.1.2)
+# to require version 3.1.2 or newer of Eigen3.
+#
+# Once done this will define
+#
+#  EIGEN3_FOUND - system has eigen lib with correct version
+#  EIGEN3_INCLUDE_DIR - the eigen include directory
+#  EIGEN3_VERSION - eigen version
+
+# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
+# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
+# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
+# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
+
+if(NOT Eigen3_FIND_VERSION)
+  if(NOT Eigen3_FIND_VERSION_MAJOR)
+    set(Eigen3_FIND_VERSION_MAJOR 2)
+  endif(NOT Eigen3_FIND_VERSION_MAJOR)
+  if(NOT Eigen3_FIND_VERSION_MINOR)
+    set(Eigen3_FIND_VERSION_MINOR 91)
+  endif(NOT Eigen3_FIND_VERSION_MINOR)
+  if(NOT Eigen3_FIND_VERSION_PATCH)
+    set(Eigen3_FIND_VERSION_PATCH 0)
+  endif(NOT Eigen3_FIND_VERSION_PATCH)
+
+  set(Eigen3_FIND_VERSION
+      "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
+endif(NOT Eigen3_FIND_VERSION)
+
+macro(_eigen3_check_version)
+  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
+
+  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match
+               "${_eigen3_version_header}")
+  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match
+               "${_eigen3_version_header}")
+  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
+  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match
+               "${_eigen3_version_header}")
+  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
+
+  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
+  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK FALSE)
+  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+    set(EIGEN3_VERSION_OK TRUE)
+  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
+
+  if(NOT EIGEN3_VERSION_OK)
+
+    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
+                   "but at least version ${Eigen3_FIND_VERSION} is required")
+  endif(NOT EIGEN3_VERSION_OK)
+endmacro(_eigen3_check_version)
+
+if(EIGEN3_INCLUDE_DIR)
+
+  # in cache already
+  _eigen3_check_version()
+  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
+
+else(EIGEN3_INCLUDE_DIR)
+
+  find_path(
+    EIGEN3_INCLUDE_DIR
+    NAMES signature_of_eigen3_matrix_library
+    PATHS ${CMAKE_INSTALL_PREFIX}/include ${KDE4_INCLUDE_DIR}
+    PATH_SUFFIXES eigen3 eigen)
+
+  if(EIGEN3_INCLUDE_DIR)
+    _eigen3_check_version()
+  endif(EIGEN3_INCLUDE_DIR)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
+
+  mark_as_advanced(EIGEN3_INCLUDE_DIR)
+
+endif(EIGEN3_INCLUDE_DIR)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindPythonLibsNew.cmake b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindPythonLibsNew.cmake
new file mode 100644
index 0000000..c1c72c7
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/FindPythonLibsNew.cmake
@@ -0,0 +1,255 @@
+# - Find python libraries
+# This module finds the libraries corresponding to the Python interpreter
+# FindPythonInterp provides.
+# This code sets the following variables:
+#
+#  PYTHONLIBS_FOUND           - have the Python libs been found
+#  PYTHON_PREFIX              - path to the Python installation
+#  PYTHON_LIBRARIES           - path to the python library
+#  PYTHON_INCLUDE_DIRS        - path to where Python.h is found
+#  PYTHON_MODULE_EXTENSION    - lib extension, e.g. '.so' or '.pyd'
+#  PYTHON_MODULE_PREFIX       - lib name prefix: usually an empty string
+#  PYTHON_SITE_PACKAGES       - path to installation site-packages
+#  PYTHON_IS_DEBUG            - whether the Python interpreter is a debug build
+#
+# Thanks to talljimbo for the patch adding the 'LDVERSION' config
+# variable usage.
+
+#=============================================================================
+# Copyright 2001-2009 Kitware, Inc.
+# Copyright 2012 Continuum Analytics, Inc.
+#
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# * Redistributions of source code must retain the above copyright
+# notice, this list of conditions and the following disclaimer.
+#
+# * Redistributions in binary form must reproduce the above copyright
+# notice, this list of conditions and the following disclaimer in the
+# documentation and/or other materials provided with the distribution.
+#
+# * Neither the names of Kitware, Inc., the Insight Software Consortium,
+# nor the names of their contributors may be used to endorse or promote
+# products derived from this software without specific prior written
+# permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+# # A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#=============================================================================
+
+# Checking for the extension makes sure that `LibsNew` was found and not just `Libs`.
+if(PYTHONLIBS_FOUND AND PYTHON_MODULE_EXTENSION)
+  return()
+endif()
+
+if(PythonLibsNew_FIND_QUIETLY)
+  set(_pythonlibs_quiet QUIET)
+endif()
+
+if(PythonLibsNew_FIND_REQUIRED)
+  set(_pythonlibs_required REQUIRED)
+endif()
+
+# Check to see if the `python` command is present and from a virtual
+# environment, conda, or GHA activation - if it is, try to use that.
+
+if(NOT DEFINED PYTHON_EXECUTABLE)
+  if(DEFINED ENV{VIRTUAL_ENV})
+    find_program(
+      PYTHON_EXECUTABLE python
+      PATHS "$ENV{VIRTUAL_ENV}" "$ENV{VIRTUAL_ENV}/bin"
+      NO_DEFAULT_PATH)
+  elseif(DEFINED ENV{CONDA_PREFIX})
+    find_program(
+      PYTHON_EXECUTABLE python
+      PATHS "$ENV{CONDA_PREFIX}" "$ENV{CONDA_PREFIX}/bin"
+      NO_DEFAULT_PATH)
+  elseif(DEFINED ENV{pythonLocation})
+    find_program(
+      PYTHON_EXECUTABLE python
+      PATHS "$ENV{pythonLocation}" "$ENV{pythonLocation}/bin"
+      NO_DEFAULT_PATH)
+  endif()
+  if(NOT PYTHON_EXECUTABLE)
+    unset(PYTHON_EXECUTABLE)
+  endif()
+endif()
+
+# Use the Python interpreter to find the libs.
+if(NOT PythonLibsNew_FIND_VERSION)
+  set(PythonLibsNew_FIND_VERSION "")
+endif()
+
+find_package(PythonInterp ${PythonLibsNew_FIND_VERSION} ${_pythonlibs_required}
+             ${_pythonlibs_quiet})
+
+if(NOT PYTHONINTERP_FOUND)
+  set(PYTHONLIBS_FOUND FALSE)
+  set(PythonLibsNew_FOUND FALSE)
+  return()
+endif()
+
+# According to https://stackoverflow.com/questions/646518/python-how-to-detect-debug-interpreter
+# testing whether sys has the gettotalrefcount function is a reliable, cross-platform
+# way to detect a CPython debug interpreter.
+#
+# The library suffix is from the config var LDVERSION sometimes, otherwise
+# VERSION. VERSION will typically be like "2.7" on unix, and "27" on windows.
+execute_process(
+  COMMAND
+    "${PYTHON_EXECUTABLE}" "-c" "from distutils import sysconfig as s;import sys;import struct;
+print('.'.join(str(v) for v in sys.version_info));
+print(sys.prefix);
+print(s.get_python_inc(plat_specific=True));
+print(s.get_python_lib(plat_specific=True));
+print(s.get_config_var('SO'));
+print(hasattr(sys, 'gettotalrefcount')+0);
+print(struct.calcsize('@P'));
+print(s.get_config_var('LDVERSION') or s.get_config_var('VERSION'));
+print(s.get_config_var('LIBDIR') or '');
+print(s.get_config_var('MULTIARCH') or '');
+"
+  RESULT_VARIABLE _PYTHON_SUCCESS
+  OUTPUT_VARIABLE _PYTHON_VALUES
+  ERROR_VARIABLE _PYTHON_ERROR_VALUE)
+
+if(NOT _PYTHON_SUCCESS MATCHES 0)
+  if(PythonLibsNew_FIND_REQUIRED)
+    message(FATAL_ERROR "Python config failure:\n${_PYTHON_ERROR_VALUE}")
+  endif()
+  set(PYTHONLIBS_FOUND FALSE)
+  set(PythonLibsNew_FOUND FALSE)
+  return()
+endif()
+
+# Convert the process output into a list
+if(WIN32)
+  string(REGEX REPLACE "\\\\" "/" _PYTHON_VALUES ${_PYTHON_VALUES})
+endif()
+string(REGEX REPLACE ";" "\\\\;" _PYTHON_VALUES ${_PYTHON_VALUES})
+string(REGEX REPLACE "\n" ";" _PYTHON_VALUES ${_PYTHON_VALUES})
+list(GET _PYTHON_VALUES 0 _PYTHON_VERSION_LIST)
+list(GET _PYTHON_VALUES 1 PYTHON_PREFIX)
+list(GET _PYTHON_VALUES 2 PYTHON_INCLUDE_DIR)
+list(GET _PYTHON_VALUES 3 PYTHON_SITE_PACKAGES)
+list(GET _PYTHON_VALUES 4 PYTHON_MODULE_EXTENSION)
+list(GET _PYTHON_VALUES 5 PYTHON_IS_DEBUG)
+list(GET _PYTHON_VALUES 6 PYTHON_SIZEOF_VOID_P)
+list(GET _PYTHON_VALUES 7 PYTHON_LIBRARY_SUFFIX)
+list(GET _PYTHON_VALUES 8 PYTHON_LIBDIR)
+list(GET _PYTHON_VALUES 9 PYTHON_MULTIARCH)
+
+# Make sure the Python has the same pointer-size as the chosen compiler
+# Skip if CMAKE_SIZEOF_VOID_P is not defined
+if(CMAKE_SIZEOF_VOID_P AND (NOT "${PYTHON_SIZEOF_VOID_P}" STREQUAL "${CMAKE_SIZEOF_VOID_P}"))
+  if(PythonLibsNew_FIND_REQUIRED)
+    math(EXPR _PYTHON_BITS "${PYTHON_SIZEOF_VOID_P} * 8")
+    math(EXPR _CMAKE_BITS "${CMAKE_SIZEOF_VOID_P} * 8")
+    message(FATAL_ERROR "Python config failure: Python is ${_PYTHON_BITS}-bit, "
+                        "chosen compiler is  ${_CMAKE_BITS}-bit")
+  endif()
+  set(PYTHONLIBS_FOUND FALSE)
+  set(PythonLibsNew_FOUND FALSE)
+  return()
+endif()
+
+# The built-in FindPython didn't always give the version numbers
+string(REGEX REPLACE "\\." ";" _PYTHON_VERSION_LIST ${_PYTHON_VERSION_LIST})
+list(GET _PYTHON_VERSION_LIST 0 PYTHON_VERSION_MAJOR)
+list(GET _PYTHON_VERSION_LIST 1 PYTHON_VERSION_MINOR)
+list(GET _PYTHON_VERSION_LIST 2 PYTHON_VERSION_PATCH)
+set(PYTHON_VERSION "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}.${PYTHON_VERSION_PATCH}")
+
+# Make sure all directory separators are '/'
+string(REGEX REPLACE "\\\\" "/" PYTHON_PREFIX "${PYTHON_PREFIX}")
+string(REGEX REPLACE "\\\\" "/" PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_DIR}")
+string(REGEX REPLACE "\\\\" "/" PYTHON_SITE_PACKAGES "${PYTHON_SITE_PACKAGES}")
+
+if(CMAKE_HOST_WIN32)
+  set(PYTHON_LIBRARY "${PYTHON_PREFIX}/libs/python${PYTHON_LIBRARY_SUFFIX}.lib")
+
+  # when run in a venv, PYTHON_PREFIX points to it. But the libraries remain in the
+  # original python installation. They may be found relative to PYTHON_INCLUDE_DIR.
+  if(NOT EXISTS "${PYTHON_LIBRARY}")
+    get_filename_component(_PYTHON_ROOT ${PYTHON_INCLUDE_DIR} DIRECTORY)
+    set(PYTHON_LIBRARY "${_PYTHON_ROOT}/libs/python${PYTHON_LIBRARY_SUFFIX}.lib")
+  endif()
+
+  # if we are in MSYS & MINGW, and we didn't find windows python lib, look for system python lib
+  if(DEFINED ENV{MSYSTEM}
+     AND MINGW
+     AND NOT EXISTS "${PYTHON_LIBRARY}")
+    if(PYTHON_MULTIARCH)
+      set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}/${PYTHON_MULTIARCH}" "${PYTHON_LIBDIR}")
+    else()
+      set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}")
+    endif()
+    unset(PYTHON_LIBRARY)
+    find_library(
+      PYTHON_LIBRARY
+      NAMES "python${PYTHON_LIBRARY_SUFFIX}"
+      PATHS ${_PYTHON_LIBS_SEARCH}
+      NO_DEFAULT_PATH)
+  endif()
+
+  # raise an error if the python libs are still not found.
+  if(NOT EXISTS "${PYTHON_LIBRARY}")
+    message(FATAL_ERROR "Python libraries not found")
+  endif()
+
+else()
+  if(PYTHON_MULTIARCH)
+    set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}/${PYTHON_MULTIARCH}" "${PYTHON_LIBDIR}")
+  else()
+    set(_PYTHON_LIBS_SEARCH "${PYTHON_LIBDIR}")
+  endif()
+  #message(STATUS "Searching for Python libs in ${_PYTHON_LIBS_SEARCH}")
+  # Probably this needs to be more involved. It would be nice if the config
+  # information the python interpreter itself gave us were more complete.
+  find_library(
+    PYTHON_LIBRARY
+    NAMES "python${PYTHON_LIBRARY_SUFFIX}"
+    PATHS ${_PYTHON_LIBS_SEARCH}
+    NO_DEFAULT_PATH)
+
+  # If all else fails, just set the name/version and let the linker figure out the path.
+  if(NOT PYTHON_LIBRARY)
+    set(PYTHON_LIBRARY python${PYTHON_LIBRARY_SUFFIX})
+  endif()
+endif()
+
+mark_as_advanced(PYTHON_LIBRARY PYTHON_INCLUDE_DIR)
+
+# We use PYTHON_INCLUDE_DIR, PYTHON_LIBRARY and PYTHON_DEBUG_LIBRARY for the
+# cache entries because they are meant to specify the location of a single
+# library. We now set the variables listed by the documentation for this
+# module.
+set(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}")
+set(PYTHON_LIBRARIES "${PYTHON_LIBRARY}")
+if(NOT PYTHON_DEBUG_LIBRARY)
+  set(PYTHON_DEBUG_LIBRARY "")
+endif()
+set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
+
+find_package_message(PYTHON "Found PythonLibs: ${PYTHON_LIBRARY}"
+                     "${PYTHON_EXECUTABLE}${PYTHON_VERSION_STRING}")
+
+set(PYTHONLIBS_FOUND TRUE)
+set(PythonLibsNew_FOUND TRUE)
+
+if(NOT PYTHON_MODULE_PREFIX)
+  set(PYTHON_MODULE_PREFIX "")
+endif()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/check-style.sh b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/check-style.sh
new file mode 100644
index 0000000..f7af2a4
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/check-style.sh
@@ -0,0 +1,44 @@
+#!/bin/bash
+#
+# Script to check include/test code for common pybind11 code style errors.
+#
+# This script currently checks for
+#
+# 1. missing space between keyword and parenthesis, e.g.: for(, if(, while(
+# 2. Missing space between right parenthesis and brace, e.g. 'for (...){'
+# 3. opening brace on its own line. It should always be on the same line as the
+#    if/while/for/do statement.
+#
+# Invoke as: tools/check-style.sh <filenames>
+#
+
+check_style_errors=0
+IFS=$'\n'
+
+
+found="$(grep '\<\(if\|for\|while\|catch\)(\|){' $@ -rn --color=always)"
+if [ -n "$found" ]; then
+    echo -e '\033[31;01mError: found the following coding style problems:\033[0m'
+    check_style_errors=1
+    echo "$found" | sed -e 's/^/    /'
+fi
+
+found="$(awk '
+function prefix(filename, lineno) {
+    return "    \033[35m" filename "\033[36m:\033[32m" lineno "\033[36m:\033[0m"
+}
+function mark(pattern, string) { sub(pattern, "\033[01;31m&\033[0m", string); return string }
+last && /^\s*{/ {
+    print prefix(FILENAME, FNR-1) mark("\\)\\s*$", last)
+    print prefix(FILENAME, FNR)   mark("^\\s*{", $0)
+    last=""
+}
+{ last = /(if|for|while|catch|switch)\s*\(.*\)\s*$/ ? $0 : "" }
+' $(find include -type f) $@)"
+if [ -n "$found" ]; then
+    check_style_errors=1
+    echo -e '\033[31;01mError: braces should occur on the same line as the if/while/.. statement. Found issues in the following files:\033[0m'
+    echo "$found"
+fi
+
+exit $check_style_errors
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/cmake_uninstall.cmake.in b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/cmake_uninstall.cmake.in
new file mode 100644
index 0000000..1e5d2bb
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/cmake_uninstall.cmake.in
@@ -0,0 +1,23 @@
+# Source: https://gitlab.kitware.com/cmake/community/-/wikis/FAQ#can-i-do-make-uninstall-with-cmake
+
+if(NOT EXISTS "@CMAKE_BINARY_DIR@/install_manifest.txt")
+  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_BINARY_DIR@/install_manifest.txt")
+endif()
+
+file(READ "@CMAKE_BINARY_DIR@/install_manifest.txt" files)
+string(REGEX REPLACE "\n" ";" files "${files}")
+foreach(file ${files})
+  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
+  if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    exec_program(
+      "@CMAKE_COMMAND@" ARGS
+      "-E remove \"$ENV{DESTDIR}${file}\""
+      OUTPUT_VARIABLE rm_out
+      RETURN_VALUE rm_retval)
+    if(NOT "${rm_retval}" STREQUAL 0)
+      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
+    endif()
+  else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
+    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
+  endif()
+endforeach()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/libsize.py b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/libsize.py
new file mode 100644
index 0000000..50f88bd
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/libsize.py
@@ -0,0 +1,38 @@
+# -*- coding: utf-8 -*-
+from __future__ import print_function, division
+import os
+import sys
+
+# Internal build script for generating debugging test .so size.
+# Usage:
+#     python libsize.py file.so save.txt -- displays the size of file.so and, if save.txt exists, compares it to the
+#                                           size in it, then overwrites save.txt with the new size for future runs.
+
+if len(sys.argv) != 3:
+    sys.exit("Invalid arguments: usage: python libsize.py file.so save.txt")
+
+lib = sys.argv[1]
+save = sys.argv[2]
+
+if not os.path.exists(lib):
+    sys.exit("Error: requested file ({}) does not exist".format(lib))
+
+libsize = os.path.getsize(lib)
+
+print("------", os.path.basename(lib), "file size:", libsize, end='')
+
+if os.path.exists(save):
+    with open(save) as sf:
+        oldsize = int(sf.readline())
+
+    if oldsize > 0:
+        change = libsize - oldsize
+        if change == 0:
+            print(" (no change)")
+        else:
+            print(" (change of {:+} bytes = {:+.2%})".format(change, change / oldsize))
+else:
+    print()
+
+with open(save, 'w') as sf:
+    sf.write(str(libsize))
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Common.cmake b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Common.cmake
new file mode 100644
index 0000000..8ee22de
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Common.cmake
@@ -0,0 +1,385 @@
+#[======================================================[.rst
+
+Adds the following targets::
+
+    pybind11::pybind11 - link to headers and pybind11
+    pybind11::module - Adds module links
+    pybind11::embed - Adds embed links
+    pybind11::lto - Link time optimizations (manual selection)
+    pybind11::thin_lto - Link time optimizations (manual selection)
+    pybind11::python_link_helper - Adds link to Python libraries
+    pybind11::python2_no_register - Avoid warning/error with Python 2 + C++14/7
+    pybind11::windows_extras - MSVC bigobj and mp for building multithreaded
+    pybind11::opt_size - avoid optimizations that increase code size
+
+Adds the following functions::
+
+    pybind11_strip(target) - strip target after building on linux/macOS
+    pybind11_find_import(module) - See if a module is installed.
+
+#]======================================================]
+
+# CMake 3.10 has an include_guard command, but we can't use that yet
+if(TARGET pybind11::lto)
+  return()
+endif()
+
+# If we are in subdirectory mode, all IMPORTED targets must be GLOBAL. If we
+# are in CONFIG mode, they should be "normal" targets instead.
+# In CMake 3.11+ you can promote a target to global after you create it,
+# which might be simpler than this check.
+get_property(
+  is_config
+  TARGET pybind11::headers
+  PROPERTY IMPORTED)
+if(NOT is_config)
+  set(optional_global GLOBAL)
+endif()
+
+# --------------------- Shared targets ----------------------------
+
+# Build an interface library target:
+add_library(pybind11::pybind11 IMPORTED INTERFACE ${optional_global})
+set_property(
+  TARGET pybind11::pybind11
+  APPEND
+  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::headers)
+
+# Build a module target:
+add_library(pybind11::module IMPORTED INTERFACE ${optional_global})
+set_property(
+  TARGET pybind11::module
+  APPEND
+  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11)
+
+# Build an embed library target:
+add_library(pybind11::embed IMPORTED INTERFACE ${optional_global})
+set_property(
+  TARGET pybind11::embed
+  APPEND
+  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11)
+
+# ----------------------- no register ----------------------
+
+# Workaround for Python 2.7 and C++17 (C++14 as a warning) incompatibility
+# This adds the flags -Wno-register and -Wno-deprecated-register if the compiler
+# is Clang 3.9+ or AppleClang and the compile language is CXX, or /wd5033 for MSVC (all languages,
+# since MSVC didn't recognize COMPILE_LANGUAGE until CMake 3.11+).
+
+add_library(pybind11::python2_no_register INTERFACE IMPORTED ${optional_global})
+set(clang_4plus
+    "$<AND:$<CXX_COMPILER_ID:Clang>,$<NOT:$<VERSION_LESS:$<CXX_COMPILER_VERSION>,3.9>>>")
+set(no_register "$<OR:${clang_4plus},$<CXX_COMPILER_ID:AppleClang>>")
+
+if(MSVC AND CMAKE_VERSION VERSION_LESS 3.11)
+  set(cxx_no_register "${no_register}")
+else()
+  set(cxx_no_register "$<AND:$<COMPILE_LANGUAGE:CXX>,${no_register}>")
+endif()
+
+set(msvc "$<CXX_COMPILER_ID:MSVC>")
+
+set_property(
+  TARGET pybind11::python2_no_register
+  PROPERTY INTERFACE_COMPILE_OPTIONS
+           "$<${cxx_no_register}:-Wno-register;-Wno-deprecated-register>" "$<${msvc}:/wd5033>")
+
+# --------------------------- link helper ---------------------------
+
+add_library(pybind11::python_link_helper IMPORTED INTERFACE ${optional_global})
+
+if(CMAKE_VERSION VERSION_LESS 3.13)
+  # In CMake 3.11+, you can set INTERFACE properties via the normal methods, and
+  # this would be simpler.
+  set_property(
+    TARGET pybind11::python_link_helper
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES "$<$<PLATFORM_ID:Darwin>:-undefined dynamic_lookup>")
+else()
+  # link_options was added in 3.13+
+  # This is safer, because you are ensured the deduplication pass in CMake will not consider
+  # these separate and remove one but not the other.
+  set_property(
+    TARGET pybind11::python_link_helper
+    APPEND
+    PROPERTY INTERFACE_LINK_OPTIONS "$<$<PLATFORM_ID:Darwin>:LINKER:-undefined,dynamic_lookup>")
+endif()
+
+# ------------------------ Windows extras -------------------------
+
+add_library(pybind11::windows_extras IMPORTED INTERFACE ${optional_global})
+
+if(MSVC)
+  # /MP enables multithreaded builds (relevant when there are many files), /bigobj is
+  # needed for bigger binding projects due to the limit to 64k addressable sections
+  set_property(
+    TARGET pybind11::windows_extras
+    APPEND
+    PROPERTY INTERFACE_COMPILE_OPTIONS /bigobj)
+
+  if(CMAKE_VERSION VERSION_LESS 3.11)
+    set_property(
+      TARGET pybind11::windows_extras
+      APPEND
+      PROPERTY INTERFACE_COMPILE_OPTIONS $<$<NOT:$<CONFIG:Debug>>:/MP>)
+  else()
+    # Only set these options for C++ files.  This is important so that, for
+    # instance, projects that include other types of source files like CUDA
+    # .cu files don't get these options propagated to nvcc since that would
+    # cause the build to fail.
+    set_property(
+      TARGET pybind11::windows_extras
+      APPEND
+      PROPERTY INTERFACE_COMPILE_OPTIONS $<$<NOT:$<CONFIG:Debug>>:$<$<COMPILE_LANGUAGE:CXX>:/MP>>)
+  endif()
+endif()
+
+# ----------------------- Optimize binary size --------------------------
+
+add_library(pybind11::opt_size IMPORTED INTERFACE ${optional_global})
+
+if(MSVC)
+  set(PYBIND11_OPT_SIZE /Os)
+else()
+  set(PYBIND11_OPT_SIZE -Os)
+endif()
+
+set_property(
+  TARGET pybind11::opt_size
+  APPEND
+  PROPERTY INTERFACE_COMPILE_OPTIONS $<$<CONFIG:Release>:${PYBIND11_OPT_SIZE}>
+           $<$<CONFIG:MinSizeRel>:${PYBIND11_OPT_SIZE}>
+           $<$<CONFIG:RelWithDebInfo>:${PYBIND11_OPT_SIZE}>)
+
+# ----------------------- Legacy option --------------------------
+
+# Warn or error if old variable name used
+if(PYBIND11_CPP_STANDARD)
+  string(REGEX MATCH [[..$]] VAL "${PYBIND11_CPP_STANDARD}")
+  if(CMAKE_CXX_STANDARD)
+    if(NOT CMAKE_CXX_STANDARD STREQUAL VAL)
+      message(WARNING "CMAKE_CXX_STANDARD=${CMAKE_CXX_STANDARD} does not match "
+                      "PYBIND11_CPP_STANDARD=${PYBIND11_CPP_STANDARD}, "
+                      "please remove PYBIND11_CPP_STANDARD from your cache")
+    endif()
+  else()
+    set(supported_standards 11 14 17 20)
+    if("${VAL}" IN_LIST supported_standards)
+      message(WARNING "USE -DCMAKE_CXX_STANDARD=${VAL} instead of PYBIND11_CPP_STANDARD")
+      set(CMAKE_CXX_STANDARD
+          ${VAL}
+          CACHE STRING "From PYBIND11_CPP_STANDARD")
+    else()
+      message(FATAL_ERROR "PYBIND11_CPP_STANDARD should be replaced with CMAKE_CXX_STANDARD "
+                          "(last two chars: ${VAL} not understood as a valid CXX std)")
+    endif()
+  endif()
+endif()
+
+# --------------------- Python specifics -------------------------
+
+# Check to see which Python mode we are in, new, old, or no python
+if(PYBIND11_NOPYTHON)
+  set(_pybind11_nopython ON)
+elseif(
+  PYBIND11_FINDPYTHON
+  OR Python_FOUND
+  OR Python2_FOUND
+  OR Python3_FOUND)
+  # New mode
+  include("${CMAKE_CURRENT_LIST_DIR}/pybind11NewTools.cmake")
+
+else()
+
+  # Classic mode
+  include("${CMAKE_CURRENT_LIST_DIR}/pybind11Tools.cmake")
+
+endif()
+
+# --------------------- pybind11_find_import -------------------------------
+
+if(NOT _pybind11_nopython)
+  # Check to see if modules are importable. Use REQUIRED to force an error if
+  # one of the modules is not found. <package_name>_FOUND will be set if the
+  # package was found (underscores replace dashes if present). QUIET will hide
+  # the found message, and VERSION will require a minimum version. A successful
+  # find will cache the result.
+  function(pybind11_find_import PYPI_NAME)
+    # CMake variables need underscores (PyPI doesn't care)
+    string(REPLACE "-" "_" NORM_PYPI_NAME "${PYPI_NAME}")
+
+    # Return if found previously
+    if(${NORM_PYPI_NAME}_FOUND)
+      return()
+    endif()
+
+    set(options "REQUIRED;QUIET")
+    set(oneValueArgs "VERSION")
+    cmake_parse_arguments(ARG "${options}" "${oneValueArgs}" "" ${ARGN})
+
+    if(ARG_REQUIRED)
+      set(status_level FATAL_ERROR)
+    else()
+      set(status_level WARNING)
+    endif()
+
+    execute_process(
+      COMMAND
+        ${${_Python}_EXECUTABLE} -c
+        "from pkg_resources import get_distribution; print(get_distribution('${PYPI_NAME}').version)"
+      RESULT_VARIABLE RESULT_PRESENT
+      OUTPUT_VARIABLE PKG_VERSION
+      ERROR_QUIET)
+
+    string(STRIP "${PKG_VERSION}" PKG_VERSION)
+
+    # If a result is present, this failed
+    if(RESULT_PRESENT)
+      set(${NORM_PYPI_NAME}_FOUND
+          ${NORM_PYPI_NAME}-NOTFOUND
+          CACHE INTERNAL "")
+      # Always warn or error
+      message(
+        ${status_level}
+        "Missing: ${PYPI_NAME} ${ARG_VERSION}\nTry: ${${_Python}_EXECUTABLE} -m pip install ${PYPI_NAME}"
+      )
+    else()
+      if(ARG_VERSION AND PKG_VERSION VERSION_LESS ARG_VERSION)
+        message(
+          ${status_level}
+          "Version incorrect: ${PYPI_NAME} ${PKG_VERSION} found, ${ARG_VERSION} required - try upgrading"
+        )
+      else()
+        set(${NORM_PYPI_NAME}_FOUND
+            YES
+            CACHE INTERNAL "")
+        set(${NORM_PYPI_NAME}_VERSION
+            ${PKG_VERSION}
+            CACHE INTERNAL "")
+      endif()
+      if(NOT ARG_QUIET)
+        message(STATUS "Found ${PYPI_NAME} ${PKG_VERSION}")
+      endif()
+    endif()
+    if(NOT ARG_VERSION OR (NOT PKG_VERSION VERSION_LESS ARG_VERSION))
+      # We have successfully found a good version, cache to avoid calling again.
+    endif()
+  endfunction()
+endif()
+
+# --------------------- LTO -------------------------------
+
+include(CheckCXXCompilerFlag)
+
+# Checks whether the given CXX/linker flags can compile and link a cxx file.
+# cxxflags and linkerflags are lists of flags to use.  The result variable is a
+# unique variable name for each set of flags: the compilation result will be
+# cached base on the result variable.  If the flags work, sets them in
+# cxxflags_out/linkerflags_out internal cache variables (in addition to
+# ${result}).
+function(_pybind11_return_if_cxx_and_linker_flags_work result cxxflags linkerflags cxxflags_out
+         linkerflags_out)
+  set(CMAKE_REQUIRED_LIBRARIES ${linkerflags})
+  check_cxx_compiler_flag("${cxxflags}" ${result})
+  if(${result})
+    set(${cxxflags_out}
+        "${cxxflags}"
+        PARENT_SCOPE)
+    set(${linkerflags_out}
+        "${linkerflags}"
+        PARENT_SCOPE)
+  endif()
+endfunction()
+
+function(_pybind11_generate_lto target prefer_thin_lto)
+  if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
+    set(cxx_append "")
+    set(linker_append "")
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND NOT APPLE)
+      # Clang Gold plugin does not support -Os; append -O3 to MinSizeRel builds to override it
+      set(linker_append ";$<$<CONFIG:MinSizeRel>:-O3>")
+    elseif(CMAKE_CXX_COMPILER_ID MATCHES "GNU")
+      set(cxx_append ";-fno-fat-lto-objects")
+    endif()
+
+    if(CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND prefer_thin_lto)
+      _pybind11_return_if_cxx_and_linker_flags_work(
+        HAS_FLTO_THIN "-flto=thin${cxx_append}" "-flto=thin${linker_append}"
+        PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+    endif()
+
+    if(NOT HAS_FLTO_THIN)
+      _pybind11_return_if_cxx_and_linker_flags_work(
+        HAS_FLTO "-flto${cxx_append}" "-flto${linker_append}" PYBIND11_LTO_CXX_FLAGS
+        PYBIND11_LTO_LINKER_FLAGS)
+    endif()
+  elseif(CMAKE_CXX_COMPILER_ID MATCHES "Intel")
+    # Intel equivalent to LTO is called IPO
+    _pybind11_return_if_cxx_and_linker_flags_work(HAS_INTEL_IPO "-ipo" "-ipo"
+                                                  PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+  elseif(MSVC)
+    # cmake only interprets libraries as linker flags when they start with a - (otherwise it
+    # converts /LTCG to \LTCG as if it was a Windows path).  Luckily MSVC supports passing flags
+    # with - instead of /, even if it is a bit non-standard:
+    _pybind11_return_if_cxx_and_linker_flags_work(HAS_MSVC_GL_LTCG "/GL" "-LTCG"
+                                                  PYBIND11_LTO_CXX_FLAGS PYBIND11_LTO_LINKER_FLAGS)
+  endif()
+
+  # Enable LTO flags if found, except for Debug builds
+  if(PYBIND11_LTO_CXX_FLAGS)
+    set(not_debug "$<NOT:$<CONFIG:Debug>>")
+    set(cxx_lang "$<COMPILE_LANGUAGE:CXX>")
+    if(MSVC AND CMAKE_VERSION VERSION_LESS 3.11)
+      set(genex "${not_debug}")
+    else()
+      set(genex "$<AND:${not_debug},${cxx_lang}>")
+    endif()
+    set_property(
+      TARGET ${target}
+      APPEND
+      PROPERTY INTERFACE_COMPILE_OPTIONS "$<${genex}:${PYBIND11_LTO_CXX_FLAGS}>")
+    if(CMAKE_PROJECT_NAME STREQUAL "pybind11")
+      message(STATUS "${target} enabled")
+    endif()
+  else()
+    if(CMAKE_PROJECT_NAME STREQUAL "pybind11")
+      message(STATUS "${target} disabled (not supported by the compiler and/or linker)")
+    endif()
+  endif()
+
+  if(PYBIND11_LTO_LINKER_FLAGS)
+    if(CMAKE_VERSION VERSION_LESS 3.11)
+      set_property(
+        TARGET ${target}
+        APPEND
+        PROPERTY INTERFACE_LINK_LIBRARIES "$<${not_debug}:${PYBIND11_LTO_LINKER_FLAGS}>")
+    else()
+      set_property(
+        TARGET ${target}
+        APPEND
+        PROPERTY INTERFACE_LINK_OPTIONS "$<${not_debug}:${PYBIND11_LTO_LINKER_FLAGS}>")
+    endif()
+  endif()
+endfunction()
+
+add_library(pybind11::lto IMPORTED INTERFACE ${optional_global})
+_pybind11_generate_lto(pybind11::lto FALSE)
+
+add_library(pybind11::thin_lto IMPORTED INTERFACE ${optional_global})
+_pybind11_generate_lto(pybind11::thin_lto TRUE)
+
+# ---------------------- pybind11_strip -----------------------------
+
+function(pybind11_strip target_name)
+  # Strip unnecessary sections of the binary on Linux/macOS
+  if(CMAKE_STRIP)
+    if(APPLE)
+      set(x_opt -x)
+    endif()
+
+    add_custom_command(
+      TARGET ${target_name}
+      POST_BUILD
+      COMMAND ${CMAKE_STRIP} ${x_opt} $<TARGET_FILE:${target_name}>)
+  endif()
+endfunction()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Config.cmake.in b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Config.cmake.in
new file mode 100644
index 0000000..9808f3d
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Config.cmake.in
@@ -0,0 +1,232 @@
+#[=============================================================================[.rst:
+
+pybind11Config.cmake
+####################
+
+Exported variables
+==================
+
+This module sets the following variables in your project:
+
+``pybind11_FOUND``
+  true if pybind11 and all required components found on the system
+``pybind11_VERSION``
+  pybind11 version in format Major.Minor.Release
+``pybind11_VERSION_TYPE``
+  pybind11 version type (dev, release)
+``pybind11_INCLUDE_DIRS``
+  Directories where pybind11 and python headers are located.
+``pybind11_INCLUDE_DIR``
+  Directory where pybind11 headers are located.
+``pybind11_DEFINITIONS``
+  Definitions necessary to use pybind11, namely USING_pybind11.
+``pybind11_LIBRARIES``
+  Compile flags and python libraries (as needed) to link against.
+``pybind11_LIBRARY``
+  Empty.
+
+Available components: None
+
+
+Exported targets
+================
+
+If pybind11 is found, this module defines the following ``IMPORTED``
+interface library targets:
+
+``pybind11::module``
+  for extension modules.
+``pybind11::embed``
+  for embedding the Python interpreter.
+
+Python headers, libraries (as needed by platform), and the C++ standard
+are attached to the target.
+
+Advanced targets are also supplied - these are primary for users building
+complex applications, and they are available in all modes:
+
+``pybind11::headers``
+  Just the pybind11 headers and minimum compile requirements.
+``pybind11::pybind11``
+  Python headers too.
+``pybind11::python_link_helper``
+  Just the "linking" part of ``pybind11:module``, for CMake < 3.15.
+``pybind11::python2_no_register``
+  Quiets the warning/error when mixing C++14+ and Python 2, also included in ``pybind11::module``.
+``pybind11::thin_lto``
+  An alternative to ``INTERPROCEDURAL_OPTIMIZATION``.
+``pybind11::lto``
+  An alternative to ``INTERPROCEDURAL_OPTIMIZATION`` (also avoids thin LTO on clang).
+``pybind11::windows_extras``
+  Adds bigobj and mp for MSVC.
+
+Modes
+=====
+
+There are two modes provided; classic, which is built on the old Python
+discovery packages in CMake, or the new FindPython mode, which uses FindPython
+from 3.12+ forward (3.15+ _highly_ recommended).
+
+New FindPython mode
+^^^^^^^^^^^^^^^^^^^
+
+To activate this mode, either call ``find_package(Python COMPONENTS Interpreter Development)``
+before finding this package, or set the ``PYBIND11_FINDPYTHON`` variable to ON. In this mode,
+you can either use the basic targets, or use the FindPython tools:
+
+.. code-block:: cmake
+
+  find_package(Python COMPONENTS Interpreter Development)
+  find_package(pybind11 CONFIG)
+
+  # pybind11 method:
+  pybind11_add_module(MyModule1 src1.cpp)
+
+  # Python method:
+  Python_add_library(MyModule2 src2.cpp)
+  target_link_libraries(MyModule2 pybind11::headers)
+  set_target_properties(MyModule2 PROPERTIES
+                                  INTERPROCEDURAL_OPTIMIZATION ON
+                                  CXX__VISIBILITY_PRESET ON
+                                  VISIBLITY_INLINES_HIDDEN ON)
+
+If you build targets yourself, you may be interested in stripping the output
+for reduced size; this is the one other feature that the helper function gives you.
+
+Classic mode
+^^^^^^^^^^^^
+
+Set PythonLibsNew variables to influence python detection and
+CMAKE_CXX_STANDARD to influence standard setting.
+
+.. code-block:: cmake
+
+  find_package(pybind11 CONFIG REQUIRED)
+
+  # Create an extension module
+  add_library(mylib MODULE main.cpp)
+  target_link_libraries(mylib PUBLIC pybind11::module)
+
+  # Or embed the Python interpreter into an executable
+  add_executable(myexe main.cpp)
+  target_link_libraries(myexe PUBLIC pybind11::embed)
+
+
+Hints
+=====
+
+The following variables can be set to guide the search for this package:
+
+``pybind11_DIR``
+  CMake variable, set to directory containing this Config file.
+``CMAKE_PREFIX_PATH``
+  CMake variable, set to root directory of this package.
+``PATH``
+  Environment variable, set to bin directory of this package.
+``CMAKE_DISABLE_FIND_PACKAGE_pybind11``
+  CMake variable, disables ``find_package(pybind11)`` when not ``REQUIRED``,
+  perhaps to force internal build.
+
+Commands
+========
+
+pybind11_add_module
+^^^^^^^^^^^^^^^^^^^
+
+This module defines the following commands to assist with creating Python modules:
+
+.. code-block:: cmake
+
+  pybind11_add_module(<target>
+    [STATIC|SHARED|MODULE]
+    [THIN_LTO] [OPT_SIZE] [NO_EXTRAS] [WITHOUT_SOBAI]
+    <files>...
+    )
+
+Add a module and setup all helpers. You can select the type of the library; the
+default is ``MODULE``. There are several options:
+
+``OPT_SIZE``
+  Optimize for size, even if the ``CMAKE_BUILD_TYPE`` is not ``RelSize``.
+``THIN_LTO``
+  Use thin TLO instead of regular if there's a choice (pybind11's selection
+  is disabled if ``CMAKE_INTERPROCEDURAL_OPTIMIZATIONS`` is set).
+``WITHOUT_SOABI``
+  Disable the SOABI component (``PYBIND11_NEWPYTHON`` mode only).
+``NO_EXTRAS``
+  Disable all extras, exit immediately after making the module.
+
+pybind11_strip
+^^^^^^^^^^^^^^
+
+.. code-block:: cmake
+
+  pybind11_strip(<target>)
+
+Strip a target after building it (linux/macOS), called by ``pybind11_add_module``.
+
+pybind11_extension
+^^^^^^^^^^^^^^^^^^
+
+.. code-block:: cmake
+
+    pybind11_extension(<target>)
+
+Sets the Python extension name correctly for Python on your platform, called by
+``pybind11_add_module``.
+
+pybind11_find_import(module)
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+.. code-block:: cmake
+
+    pybind11_find_import(<module> [VERSION <number>] [REQUIRED] [QUIET])
+
+See if a module is installed. Use the registered name (the one on PyPI). You
+can specify a ``VERSION``, and you can specify ``REQUIRED`` or ``QUIET``. Only available if
+``NOPYTHON`` mode is not active.  Sets ``module_VERSION`` and ``module_FOUND``. Caches the
+result once a valid install is found.
+
+Suggested usage
+===============
+
+Using ``find_package`` with version info is not recommended except for release versions.
+
+.. code-block:: cmake
+
+  find_package(pybind11 CONFIG)
+  find_package(pybind11 2.0 EXACT CONFIG REQUIRED)
+
+#]=============================================================================]
+@PACKAGE_INIT@
+
+# Location of pybind11/pybind11.h
+set(pybind11_INCLUDE_DIR "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_INCLUDEDIR@")
+
+set(pybind11_LIBRARY "")
+set(pybind11_DEFINITIONS USING_pybind11)
+set(pybind11_VERSION_TYPE "@pybind11_VERSION_TYPE@")
+
+check_required_components(pybind11)
+
+if(TARGET pybind11::python_link_helper)
+  # This has already been setup elsewhere, such as with a previous call or
+  # add_subdirectory
+  return()
+endif()
+
+include("${CMAKE_CURRENT_LIST_DIR}/pybind11Targets.cmake")
+
+# Easier to use / remember
+add_library(pybind11::headers IMPORTED INTERFACE)
+set_target_properties(pybind11::headers PROPERTIES INTERFACE_LINK_LIBRARIES
+                                                   pybind11::pybind11_headers)
+
+include("${CMAKE_CURRENT_LIST_DIR}/pybind11Common.cmake")
+
+if(NOT pybind11_FIND_QUIETLY)
+  message(
+    STATUS
+      "Found pybind11: ${pybind11_INCLUDE_DIR} (found version \"${pybind11_VERSION}\" ${pybind11_VERSION_TYPE})"
+  )
+endif()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11NewTools.cmake b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11NewTools.cmake
new file mode 100644
index 0000000..bc9fa18
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11NewTools.cmake
@@ -0,0 +1,242 @@
+# tools/pybind11NewTools.cmake -- Build system for the pybind11 modules
+#
+# Copyright (c) 2020 Wenzel Jakob <wenzel@inf.ethz.ch> and Henry Schreiner
+#
+# All rights reserved. Use of this source code is governed by a
+# BSD-style license that can be found in the LICENSE file.
+
+get_property(
+  is_config
+  TARGET pybind11::headers
+  PROPERTY IMPORTED)
+
+if(pybind11_FIND_QUIETLY)
+  set(_pybind11_quiet QUIET)
+endif()
+
+if(CMAKE_VERSION VERSION_LESS 3.12)
+  message(FATAL_ERROR "You cannot use the new FindPython module with CMake < 3.12")
+endif()
+
+if(NOT Python_FOUND
+   AND NOT Python3_FOUND
+   AND NOT Python2_FOUND)
+  if(NOT DEFINED Python_FIND_IMPLEMENTATIONS)
+    set(Python_FIND_IMPLEMENTATIONS CPython PyPy)
+  endif()
+
+  # GitHub Actions like activation
+  if(NOT DEFINED Python_ROOT_DIR AND DEFINED ENV{pythonLocation})
+    set(Python_ROOT_DIR "$ENV{pythonLocation}")
+  endif()
+
+  find_package(Python REQUIRED COMPONENTS Interpreter Development ${_pybind11_quiet})
+
+  # If we are in submodule mode, export the Python targets to global targets.
+  # If this behavior is not desired, FindPython _before_ pybind11.
+  if(NOT is_config)
+    set_property(TARGET Python::Python PROPERTY IMPORTED_GLOBAL TRUE)
+    set_property(TARGET Python::Interpreter PROPERTY IMPORTED_GLOBAL TRUE)
+    if(TARGET Python::Module)
+      set_property(TARGET Python::Module PROPERTY IMPORTED_GLOBAL TRUE)
+    endif()
+  endif()
+endif()
+
+if(Python_FOUND)
+  set(_Python
+      Python
+      CACHE INTERNAL "" FORCE)
+elseif(Python3_FOUND AND NOT Python2_FOUND)
+  set(_Python
+      Python3
+      CACHE INTERNAL "" FORCE)
+elseif(Python2_FOUND AND NOT Python3_FOUND)
+  set(_Python
+      Python2
+      CACHE INTERNAL "" FORCE)
+else()
+  message(AUTHOR_WARNING "Python2 and Python3 both present, pybind11 in "
+                         "PYBIND11_NOPYTHON mode (manually activate to silence warning)")
+  set(_pybind11_nopython ON)
+  return()
+endif()
+
+if(PYBIND11_MASTER_PROJECT)
+  if(${_Python}_INTERPRETER_ID MATCHES "PyPy")
+    message(STATUS "PyPy ${${_Python}_PyPy_VERSION} (Py ${${_Python}_VERSION})")
+  else()
+    message(STATUS "${_Python} ${${_Python}_VERSION}")
+  endif()
+endif()
+
+# If a user finds Python, they may forget to include the Interpreter component
+# and the following two steps require it. It is highly recommended by CMake
+# when finding development libraries anyway, so we will require it.
+if(NOT DEFINED ${_Python}_EXECUTABLE)
+  message(
+    FATAL_ERROR
+      "${_Python} was found without the Interpreter component. Pybind11 requires this component.")
+
+endif()
+
+if(NOT DEFINED PYTHON_IS_DEBUG)
+  # Debug check - see https://stackoverflow.com/questions/646518/python-how-to-detect-debug-Interpreter
+  execute_process(
+    COMMAND "${${_Python}_EXECUTABLE}" "-c"
+            "import sys; sys.exit(hasattr(sys, 'gettotalrefcount'))"
+    RESULT_VARIABLE _PYTHON_IS_DEBUG)
+  set(PYTHON_IS_DEBUG
+      "${_PYTHON_IS_DEBUG}"
+      CACHE INTERNAL "Python debug status")
+endif()
+
+# Get the suffix - SO is deprecated, should use EXT_SUFFIX, but this is
+# required for PyPy3 (as of 7.3.1)
+if(NOT DEFINED PYTHON_MODULE_EXTENSION)
+  execute_process(
+    COMMAND "${${_Python}_EXECUTABLE}" "-c"
+            "from distutils import sysconfig; print(sysconfig.get_config_var('SO'))"
+    OUTPUT_VARIABLE _PYTHON_MODULE_EXTENSION
+    ERROR_VARIABLE _PYTHON_MODULE_EXTENSION_ERR
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+  if(_PYTHON_MODULE_EXTENSION STREQUAL "")
+    message(
+      FATAL_ERROR "pybind11 could not query the module file extension, likely the 'distutils'"
+                  "package is not installed. Full error message:\n${_PYTHON_MODULE_EXTENSION_ERR}")
+  endif()
+
+  # This needs to be available for the pybind11_extension function
+  set(PYTHON_MODULE_EXTENSION
+      "${_PYTHON_MODULE_EXTENSION}"
+      CACHE INTERNAL "")
+endif()
+
+# Python debug libraries expose slightly different objects before 3.8
+# https://docs.python.org/3.6/c-api/intro.html#debugging-builds
+# https://stackoverflow.com/questions/39161202/how-to-work-around-missing-pymodule-create2-in-amd64-win-python35-d-lib
+if(PYTHON_IS_DEBUG)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_COMPILE_DEFINITIONS Py_DEBUG)
+endif()
+
+# Check on every access - since Python2 and Python3 could have been used - do nothing in that case.
+
+if(DEFINED ${_Python}_INCLUDE_DIRS)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_INCLUDE_DIRECTORIES $<BUILD_INTERFACE:${${_Python}_INCLUDE_DIRS}>)
+endif()
+
+if(DEFINED ${_Python}_VERSION AND ${_Python}_VERSION VERSION_LESS 3)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::python2_no_register)
+endif()
+
+# In CMake 3.18+, you can find these separately, so include an if
+if(TARGET ${_Python}::${_Python})
+  set_property(
+    TARGET pybind11::embed
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES ${_Python}::${_Python})
+endif()
+
+# CMake 3.15+ has this
+if(TARGET ${_Python}::Module)
+  set_property(
+    TARGET pybind11::module
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES ${_Python}::Module)
+else()
+  set_property(
+    TARGET pybind11::module
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::python_link_helper)
+endif()
+
+# WITHOUT_SOABI and WITH_SOABI will disable the custom extension handling used by pybind11.
+# WITH_SOABI is passed on to python_add_library.
+function(pybind11_add_module target_name)
+  cmake_parse_arguments(PARSE_ARGV 1 ARG
+                        "STATIC;SHARED;MODULE;THIN_LTO;OPT_SIZE;NO_EXTRAS;WITHOUT_SOABI" "" "")
+
+  if(ARG_ADD_LIBRARY_STATIC)
+    set(type STATIC)
+  elseif(ARG_ADD_LIBRARY_SHARED)
+    set(type SHARED)
+  else()
+    set(type MODULE)
+  endif()
+
+  if("${_Python}" STREQUAL "Python")
+    python_add_library(${target_name} ${type} ${ARG_UNPARSED_ARGUMENTS})
+  elseif("${_Python}" STREQUAL "Python3")
+    python3_add_library(${target_name} ${type} ${ARG_UNPARSED_ARGUMENTS})
+  elseif("${_Python}" STREQUAL "Python2")
+    python2_add_library(${target_name} ${type} ${ARG_UNPARSED_ARGUMENTS})
+  else()
+    message(FATAL_ERROR "Cannot detect FindPython version: ${_Python}")
+  endif()
+
+  target_link_libraries(${target_name} PRIVATE pybind11::headers)
+
+  if(type STREQUAL "MODULE")
+    target_link_libraries(${target_name} PRIVATE pybind11::module)
+  else()
+    target_link_libraries(${target_name} PRIVATE pybind11::embed)
+  endif()
+
+  if(MSVC)
+    target_link_libraries(${target_name} PRIVATE pybind11::windows_extras)
+  endif()
+
+  if(DEFINED ${_Python}_VERSION AND ${_Python}_VERSION VERSION_LESS 3)
+    target_link_libraries(${target_name} PRIVATE pybind11::python2_no_register)
+  endif()
+
+  set_target_properties(${target_name} PROPERTIES CXX_VISIBILITY_PRESET "hidden"
+                                                  CUDA_VISIBILITY_PRESET "hidden")
+
+  # If we don't pass a WITH_SOABI or WITHOUT_SOABI, use our own default handling of extensions
+  if("${type}" STREQUAL "MODULE" AND (NOT ARG_WITHOUT_SOABI OR NOT "WITH_SOABI" IN_LIST
+                                                               ARG_UNPARSED_ARGUMENTS))
+    pybind11_extension(${target_name})
+  endif()
+
+  if(ARG_NO_EXTRAS)
+    return()
+  endif()
+
+  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+    if(ARG_THIN_LTO)
+      target_link_libraries(${target_name} PRIVATE pybind11::thin_lto)
+    else()
+      target_link_libraries(${target_name} PRIVATE pybind11::lto)
+    endif()
+  endif()
+
+  if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+    # Strip unnecessary sections of the binary on Linux/macOS
+    pybind11_strip(${target_name})
+  endif()
+
+  if(MSVC)
+    target_link_libraries(${target_name} PRIVATE pybind11::windows_extras)
+  endif()
+
+  if(ARG_OPT_SIZE)
+    target_link_libraries(${target_name} PRIVATE pybind11::opt_size)
+  endif()
+endfunction()
+
+function(pybind11_extension name)
+  # The extension is precomputed
+  set_target_properties(${name} PROPERTIES PREFIX "" SUFFIX "${PYTHON_MODULE_EXTENSION}")
+
+endfunction()
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Tools.cmake b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Tools.cmake
new file mode 100644
index 0000000..f1c7a76
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pybind11Tools.cmake
@@ -0,0 +1,196 @@
+# tools/pybind11Tools.cmake -- Build system for the pybind11 modules
+#
+# Copyright (c) 2020 Wenzel Jakob <wenzel.jakob@epfl.ch>
+#
+# All rights reserved. Use of this source code is governed by a
+# BSD-style license that can be found in the LICENSE file.
+
+# Built-in in CMake 3.5+
+include(CMakeParseArguments)
+
+if(pybind11_FIND_QUIETLY)
+  set(_pybind11_quiet QUIET)
+endif()
+
+# If this is the first run, PYTHON_VERSION can stand in for PYBIND11_PYTHON_VERSION
+if(NOT DEFINED PYBIND11_PYTHON_VERSION AND DEFINED PYTHON_VERSION)
+  message(WARNING "Set PYBIND11_PYTHON_VERSION to search for a specific version, not "
+                  "PYTHON_VERSION (which is an output). Assuming that is what you "
+                  "meant to do and continuing anyway.")
+  set(PYBIND11_PYTHON_VERSION
+      "${PYTHON_VERSION}"
+      CACHE STRING "Python version to use for compiling modules")
+  unset(PYTHON_VERSION)
+  unset(PYTHON_VERSION CACHE)
+else()
+  # If this is set as a normal variable, promote it, otherwise, make an empty cache variable.
+  set(PYBIND11_PYTHON_VERSION
+      "${PYBIND11_PYTHON_VERSION}"
+      CACHE STRING "Python version to use for compiling modules")
+endif()
+
+# A user can set versions manually too
+set(Python_ADDITIONAL_VERSIONS
+    "3.9;3.8;3.7;3.6;3.5;3.4"
+    CACHE INTERNAL "")
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
+find_package(PythonLibsNew ${PYBIND11_PYTHON_VERSION} MODULE REQUIRED ${_pybind11_quiet})
+list(REMOVE_AT CMAKE_MODULE_PATH -1)
+
+# Cache variables so pybind11_add_module can be used in parent projects
+set(PYTHON_INCLUDE_DIRS
+    ${PYTHON_INCLUDE_DIRS}
+    CACHE INTERNAL "")
+set(PYTHON_LIBRARIES
+    ${PYTHON_LIBRARIES}
+    CACHE INTERNAL "")
+set(PYTHON_MODULE_PREFIX
+    ${PYTHON_MODULE_PREFIX}
+    CACHE INTERNAL "")
+set(PYTHON_MODULE_EXTENSION
+    ${PYTHON_MODULE_EXTENSION}
+    CACHE INTERNAL "")
+set(PYTHON_VERSION_MAJOR
+    ${PYTHON_VERSION_MAJOR}
+    CACHE INTERNAL "")
+set(PYTHON_VERSION_MINOR
+    ${PYTHON_VERSION_MINOR}
+    CACHE INTERNAL "")
+set(PYTHON_VERSION
+    ${PYTHON_VERSION}
+    CACHE INTERNAL "")
+set(PYTHON_IS_DEBUG
+    "${PYTHON_IS_DEBUG}"
+    CACHE INTERNAL "")
+
+if(PYBIND11_MASTER_PROJECT)
+  if(PYTHON_MODULE_EXTENSION MATCHES "pypy")
+    if(NOT DEFINED PYPY_VERSION)
+      execute_process(
+        COMMAND ${PYTHON_EXECUTABLE} -c
+                [=[import sys; print(".".join(map(str, sys.pypy_version_info[:3])))]=]
+        OUTPUT_VARIABLE pypy_version)
+      set(PYPY_VERSION
+          ${pypy_version}
+          CACHE INTERNAL "")
+    endif()
+    message(STATUS "PYPY ${PYPY_VERSION} (Py ${PYTHON_VERSION})")
+  else()
+    message(STATUS "PYTHON ${PYTHON_VERSION}")
+  endif()
+endif()
+
+# Only add Python for build - must be added during the import for config since it has to be re-discovered.
+set_property(
+  TARGET pybind11::pybind11
+  APPEND
+  PROPERTY INTERFACE_INCLUDE_DIRECTORIES $<BUILD_INTERFACE:${PYTHON_INCLUDE_DIRS}>)
+
+# Python debug libraries expose slightly different objects before 3.8
+# https://docs.python.org/3.6/c-api/intro.html#debugging-builds
+# https://stackoverflow.com/questions/39161202/how-to-work-around-missing-pymodule-create2-in-amd64-win-python35-d-lib
+if(PYTHON_IS_DEBUG)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_COMPILE_DEFINITIONS Py_DEBUG)
+endif()
+
+set_property(
+  TARGET pybind11::module
+  APPEND
+  PROPERTY
+    INTERFACE_LINK_LIBRARIES pybind11::python_link_helper
+    "$<$<OR:$<PLATFORM_ID:Windows>,$<PLATFORM_ID:Cygwin>>:$<BUILD_INTERFACE:${PYTHON_LIBRARIES}>>")
+
+if(PYTHON_VERSION VERSION_LESS 3)
+  set_property(
+    TARGET pybind11::pybind11
+    APPEND
+    PROPERTY INTERFACE_LINK_LIBRARIES pybind11::python2_no_register)
+endif()
+
+set_property(
+  TARGET pybind11::embed
+  APPEND
+  PROPERTY INTERFACE_LINK_LIBRARIES pybind11::pybind11 $<BUILD_INTERFACE:${PYTHON_LIBRARIES}>)
+
+function(pybind11_extension name)
+  # The prefix and extension are provided by FindPythonLibsNew.cmake
+  set_target_properties(${name} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}"
+                                           SUFFIX "${PYTHON_MODULE_EXTENSION}")
+endfunction()
+
+# Build a Python extension module:
+# pybind11_add_module(<name> [MODULE | SHARED] [EXCLUDE_FROM_ALL]
+#                     [NO_EXTRAS] [THIN_LTO] [OPT_SIZE] source1 [source2 ...])
+#
+function(pybind11_add_module target_name)
+  set(options "MODULE;SHARED;EXCLUDE_FROM_ALL;NO_EXTRAS;SYSTEM;THIN_LTO;OPT_SIZE")
+  cmake_parse_arguments(ARG "${options}" "" "" ${ARGN})
+
+  if(ARG_MODULE AND ARG_SHARED)
+    message(FATAL_ERROR "Can't be both MODULE and SHARED")
+  elseif(ARG_SHARED)
+    set(lib_type SHARED)
+  else()
+    set(lib_type MODULE)
+  endif()
+
+  if(ARG_EXCLUDE_FROM_ALL)
+    set(exclude_from_all EXCLUDE_FROM_ALL)
+  else()
+    set(exclude_from_all "")
+  endif()
+
+  add_library(${target_name} ${lib_type} ${exclude_from_all} ${ARG_UNPARSED_ARGUMENTS})
+
+  target_link_libraries(${target_name} PRIVATE pybind11::module)
+
+  if(ARG_SYSTEM)
+    message(
+      STATUS
+        "Warning: this does not have an effect - use NO_SYSTEM_FROM_IMPORTED if using imported targets"
+    )
+  endif()
+
+  pybind11_extension(${target_name})
+
+  # -fvisibility=hidden is required to allow multiple modules compiled against
+  # different pybind versions to work properly, and for some features (e.g.
+  # py::module_local).  We force it on everything inside the `pybind11`
+  # namespace; also turning it on for a pybind module compilation here avoids
+  # potential warnings or issues from having mixed hidden/non-hidden types.
+  set_target_properties(${target_name} PROPERTIES CXX_VISIBILITY_PRESET "hidden"
+                                                  CUDA_VISIBILITY_PRESET "hidden")
+
+  if(ARG_NO_EXTRAS)
+    return()
+  endif()
+
+  if(NOT DEFINED CMAKE_INTERPROCEDURAL_OPTIMIZATION)
+    if(ARG_THIN_LTO)
+      target_link_libraries(${target_name} PRIVATE pybind11::thin_lto)
+    else()
+      target_link_libraries(${target_name} PRIVATE pybind11::lto)
+    endif()
+  endif()
+
+  if(NOT MSVC AND NOT ${CMAKE_BUILD_TYPE} MATCHES Debug|RelWithDebInfo)
+    pybind11_strip(${target_name})
+  endif()
+
+  if(MSVC)
+    target_link_libraries(${target_name} PRIVATE pybind11::windows_extras)
+  endif()
+
+  if(ARG_OPT_SIZE)
+    target_link_libraries(${target_name} PRIVATE pybind11::opt_size)
+  endif()
+endfunction()
+
+# Provide general way to call common Python commands in "common" file.
+set(_Python
+    PYTHON
+    CACHE INTERNAL "" FORCE)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pyproject.toml b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pyproject.toml
new file mode 100644
index 0000000..8fe2f47
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/pyproject.toml
@@ -0,0 +1,3 @@
+[build-system]
+requires = ["setuptools>=42", "wheel"]
+build-backend = "setuptools.build_meta"
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/setup_global.py.in b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/setup_global.py.in
new file mode 100644
index 0000000..4cf040b
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/setup_global.py.in
@@ -0,0 +1,63 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Setup script for pybind11-global (in the sdist or in tools/setup_global.py in the repository)
+# This package is targeted for easy use from CMake.
+
+import contextlib
+import glob
+import os
+import re
+import shutil
+import subprocess
+import sys
+import tempfile
+
+# Setuptools has to be before distutils
+from setuptools import setup
+
+from distutils.command.install_headers import install_headers
+
+class InstallHeadersNested(install_headers):
+    def run(self):
+        headers = self.distribution.headers or []
+        for header in headers:
+            # Remove pybind11/include/
+            short_header = header.split("/", 2)[-1]
+
+            dst = os.path.join(self.install_dir, os.path.dirname(short_header))
+            self.mkpath(dst)
+            (out, _) = self.copy_file(header, dst)
+            self.outfiles.append(out)
+
+
+main_headers = glob.glob("pybind11/include/pybind11/*.h")
+detail_headers = glob.glob("pybind11/include/pybind11/detail/*.h")
+cmake_files = glob.glob("pybind11/share/cmake/pybind11/*.cmake")
+headers = main_headers + detail_headers
+
+cmdclass = {"install_headers": InstallHeadersNested}
+$extra_cmd
+
+# This will _not_ affect installing from wheels,
+# only building wheels or installing from SDist.
+# Primarily intended on Windows, where this is sometimes
+# customized (for example, conda-forge uses Library/)
+base = os.environ.get("PYBIND11_GLOBAL_PREFIX", "")
+
+# Must have a separator
+if base and not base.endswith("/"):
+    base += "/"
+
+setup(
+    name="pybind11_global",
+    version="$version",
+    packages=[],
+    headers=headers,
+    data_files=[
+        (base + "share/cmake/pybind11", cmake_files),
+        (base + "include/pybind11", main_headers),
+        (base + "include/pybind11/detail", detail_headers),
+    ],
+    cmdclass=cmdclass,
+)
diff --git a/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/setup_main.py.in b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/setup_main.py.in
new file mode 100644
index 0000000..c859c1f
--- /dev/null
+++ b/src/Robot/unitree_legged_go1-walk/python_wrapper/third-party/pybind11/tools/setup_main.py.in
@@ -0,0 +1,35 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Setup script (in the sdist or in tools/setup_main.py in the repository)
+
+from setuptools import setup
+
+cmdclass = {}
+$extra_cmd
+
+setup(
+    name="pybind11",
+    version="$version",
+    download_url='https://github.com/pybind/pybind11/tarball/v$version',
+    packages=[
+        "pybind11",
+        "pybind11.include.pybind11",
+        "pybind11.include.pybind11.detail",
+        "pybind11.share.cmake.pybind11",
+    ],
+    package_data={
+        "pybind11.include.pybind11": ["*.h"],
+        "pybind11.include.pybind11.detail": ["*.h"],
+        "pybind11.share.cmake.pybind11": ["*.cmake"],
+    },
+    extras_require={
+        "global": ["pybind11_global==$version"]
+        },
+    entry_points={
+        "console_scripts": [
+             "pybind11-config = pybind11.__main__:main",
+        ]
+    },
+    cmdclass=cmdclass
+)
-- 
2.34.1