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

Unitree

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')

Metadata

Release files for unitree-legged-sdk 1.0.20230906

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Source distribution (sdist)

Source distribution for unitree-legged-sdk 1.0.20230906
File	Size	Uploaded
unitree_legged_sdk-1.0.20230906.tar.gz	4.5 kB	Sep 6, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20230906
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20230906-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 6, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 6, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 6, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Sep 6, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Sep 6, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Sep 6, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Sep 6, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Sep 6, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Sep 6, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Sep 6, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Sep 6, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Sep 6, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Sep 6, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Sep 6, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Sep 6, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Sep 6, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Sep 6, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230906-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Sep 6, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux glibc 2.17+ x86-64	Details

Total release size: 6.7 MB

Release files / unitree_legged_sdk-1.0.20230906.tar.gz

Download URL	unitree_legged_sdk-1.0.20230906.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`a8aab62d06f3243efb3e79a861b78d692f9249898d9c14a91a6130cbb562ecd3`
BLAKE2b-256 checksum How to use checksums	`90947fc383691c89e6a29610d7a835ecc50f682c96c89cfc21eb44f7252c44e3`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.7 kB
Tags	Linux glibc 2.17+ x86-64 PyPy 3.10 PyPy 3.10 7.3
SHA-256 checksum How to use checksums	`8ae61dd1fbf50a87c1d10947d89c1ae1e3e9d21ed6d88c25d272b5b7257770af`
BLAKE2b-256 checksum How to use checksums	`4db658927447263424acfe37671f5d024a9362f09f632cabc49a373aa35973d1`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.7 kB
Tags	Linux glibc 2.17+ x86-64 PyPy 3.9 PyPy 3.9 7.3
SHA-256 checksum How to use checksums	`496daa0490ca7a4ad1c54b35189982bb7e3c87ea5aaf93bfcd1419b4ef816bd7`
BLAKE2b-256 checksum How to use checksums	`3980586f58cdace06017f42e20916036d5e5abc6e42fe4891cc501428804c8f1`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.7 kB
Tags	Linux glibc 2.17+ x86-64 PyPy 3.8 PyPy 3.8 7.3
SHA-256 checksum How to use checksums	`7bde3b4b9e931fdacd982893b2a140bc357ff839ff2b91d2f322add388123a1c`
BLAKE2b-256 checksum How to use checksums	`8c0de3c85e7b2881959d8f875985a05368adb1ed2c72c290180526cbc6d33bd8`
Upload date	Sep 6, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.2 kB
Tags	Linux glibc 2.17+ x86-64 PyPy 3.7 PyPy 3.7 7.3
SHA-256 checksum How to use checksums	`5bd152d97de60d67ed73aeb529b21280730c2d03483142768d18b1c6f262402f`
BLAKE2b-256 checksum How to use checksums	`fe6763848bbe182ea6194f0d99f4ead8e48a0be80de3d45e1eee541dda9255ff`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp312-cp312-musllinux_1_1_x86_64.whl
Size	691.5 kB
Tags	CPython 3.12 Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`cf4155c36d80d30f8e8ea78632753854819f72bdc8d46fa539de45dceccc1259`
BLAKE2b-256 checksum How to use checksums	`c22c90729a31077455ca88c89090ea9af08bc0f2072d37f8f78682a857bfa4a4`
Upload date	Sep 6, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.2 kB
Tags	CPython 3.12 Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`bee06a4bea8974890e54306b2708508c7001feb35939267f02a5afa3f1b05f4b`
BLAKE2b-256 checksum How to use checksums	`f3d7756b6167f95f9493cbdb44f76c257102ea37662ce13ed3651bb924cacbc6`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp311-cp311-musllinux_1_1_x86_64.whl
Size	693.4 kB
Tags	CPython 3.11 Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`9d9a7af48cba24d4615e3bca29cb4a4a29bfec8e1a854ea2b002eb6081a029fc`
BLAKE2b-256 checksum How to use checksums	`ecacc61edd5d3eb5f04bf1258a2da051bc0c66cf71d747c3365da1c7d72d0198`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	170.5 kB
Tags	CPython 3.11 Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`1fdc1fe113369e4b1b21b491283d1ce90f661a107da2c48987cb6f667baeba28`
BLAKE2b-256 checksum How to use checksums	`3ed38d0ca97cf61e0715df662ddbf0ac18b6815abda101f87337292adf9f2b6f`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp310-cp310-musllinux_1_1_x86_64.whl
Size	692.2 kB
Tags	CPython 3.10 Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`f2ecf5145dc19bffaaadd5248c1fe1d24ec76a5e10c5755d1e8325caea15dea9`
BLAKE2b-256 checksum How to use checksums	`8c07e22a9e228215a2e6769d73e9ff37065018ff20e85efcbf15d2d9ee755230`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.5 kB
Tags	CPython 3.10 Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`9cbcd57256ca3af24c14526ba5899b4b116cf0c8385ceea742a15de22064a047`
BLAKE2b-256 checksum How to use checksums	`39a058797458406c82cc62a0f2a4a673608bc30016e5abcc037ee76465783d3c`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp39-cp39-musllinux_1_1_x86_64.whl
Size	692.3 kB
Tags	CPython 3.9 Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`141c5d4f16949c7431dcc07dd32c330921d017f616ee24bd2c6776efc9cfddb1`
BLAKE2b-256 checksum How to use checksums	`31df397c87b723586db5525058fff661f46408953230deea7f80431ec4a5383b`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.9 kB
Tags	CPython 3.9 Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`cb3ff8ecde1f09b178d8054f6029209b289cd6a339ab4c919e99f5f09b058e44`
BLAKE2b-256 checksum How to use checksums	`684e6e0d11acb38b21cf9fd7247f9984f30c0891c213cf03a8b758f812b505cc`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp38-cp38-musllinux_1_1_x86_64.whl
Size	692.3 kB
Tags	CPython 3.8 Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`dd1c3dcbaf788dd176dc6e50d478b166cc813d130e8cc1bc5b5a4a1fdbf7cca3`
BLAKE2b-256 checksum How to use checksums	`10f30316a5f1742a74549b5d09f306805b355ff0f185757e59925c5fc3ae9ad5`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.4 kB
Tags	CPython 3.8 Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`6e9cc9af3de7b2c9e1bad2cc6d8360b951ba29b3e0ac19a010808437f8457ffb`
BLAKE2b-256 checksum How to use checksums	`476a660e2d40f0410d13e5bdab605872c61efd0f1e2c69af669f519cd29cd5d6`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp37-cp37m-musllinux_1_1_x86_64.whl
Size	697.0 kB
Tags	CPython 3.7 CPython 3.7 pymalloc Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`18c355dc7ba34e89d6ec95a91ae86ea0ab2657447ab2014bafbabdf80ccf947f`
BLAKE2b-256 checksum How to use checksums	`7fc2a9b898bdb9955b2614c7deb1a7f82bc76b2689b71b264f6737d2d7f05c0e`
Upload date	Sep 6, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	173.3 kB
Tags	CPython 3.7 CPython 3.7 pymalloc Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`698f657a5491c0f7477b6b093628268861be06469cc7d82e1f31e71fd412b4f0`
BLAKE2b-256 checksum How to use checksums	`05a4061f3023373eb4b32981b52f751740d330ffc80448151bfb78ea9c63dfed`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp36-cp36m-musllinux_1_1_x86_64.whl
Size	696.9 kB
Tags	CPython 3.6 CPython 3.6 pymalloc Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`b9ce7aa67019b106043e5fa5eac43732217243eab902406f9cd199d36d141166`
BLAKE2b-256 checksum How to use checksums	`d1605a1caeeed305d2186b685b5f97b2f5e3aa6babc97813fe571893e4d5192f`
Upload date	Sep 6, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230906-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230906-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	173.2 kB
Tags	CPython 3.6 CPython 3.6 pymalloc Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`997cfbc2d2ca8f0a0cd0782d0cba55d3dee4d7e7f2774c9a1cd442bede8da9ff`
BLAKE2b-256 checksum How to use checksums	`d5f227be188e9db88cb8cc677de3a437699870d48dcafa4524de7351c977678b`
Upload date	Sep 6, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`