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The unitree_legged_sdk is mainly used for communication between PC and Controller board.It also can be used in other PCs with UDP.

Project description

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 for support)

Dependencies

Legged_sport    >= v1.36.0
firmware H0.1.7 >= v0.1.35
         H0.1.9 >= v0.1.35
  • Boost (version 1.5.4 or higher)
  • CMake (version 2.8.3 or higher)
  • g++ (version 8.3.0 or higher)

Build

mkdir build
cd build
cmake ..
make

If you want to build the python wrapper, then replace the cmake line with:

cmake -DPYTHON_BUILD=TRUE ..

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')

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unitree_legged_sdk-1.0.20230906-cp312-cp312-musllinux_1_1_x86_64.whl (691.5 kB view details)

Uploaded CPython 3.12 musllinux: musl 1.1+ x86-64

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Uploaded CPython 3.11 musllinux: musl 1.1+ x86-64

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Uploaded CPython 3.10 musllinux: musl 1.1+ x86-64

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unitree_legged_sdk-1.0.20230906-cp39-cp39-musllinux_1_1_x86_64.whl (692.3 kB view details)

Uploaded CPython 3.9 musllinux: musl 1.1+ x86-64

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Uploaded CPython 3.8 musllinux: musl 1.1+ x86-64

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Uploaded CPython 3.7m musllinux: musl 1.1+ x86-64

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Uploaded CPython 3.6m musllinux: musl 1.1+ x86-64

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