How to run it on my own robot, not a unitree one !!

Hi, Ylo2 would like to walk, and i'd like to test your controller.
working moteus BLDC motors, canfd, imu, no Foot sensors
Could you tell me how to test your controller on my own robot ?!
Where could I find a read() and a write() functions, or similar ?
Impatient to read you.
Vincent