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 1.0.20230910

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 1.0.20230910
File	Size	Uploaded
unitree_legged_sdk-1.0.20230910.tar.gz	4.5 kB	Sep 10, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20230910
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20230910-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 10, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 10, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 10, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Sep 10, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Sep 10, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Sep 10, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Sep 10, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Sep 10, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Sep 10, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Sep 10, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Sep 10, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Sep 10, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Sep 10, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Sep 10, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Sep 10, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Sep 10, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Sep 10, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230910-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Sep 10, 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-1.0.20230910.tar.gz

Download URL	unitree_legged_sdk-1.0.20230910.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`3f214bf594bc225fd90c77915e1778b2eca200921b4eb93c40fcb3654e1f8def`
BLAKE2b-256 checksum How to use checksums	`96ad9d72cd2d514d5d3095eefcac116fea2651f3ab862783f8acb522879dc308`
Upload date	Sep 10, 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-1.0.20230910-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`80266437fbfbf134652019506dd2d376326a2d898c3d9eb099f005d9a8e6aaac`
BLAKE2b-256 checksum How to use checksums	`0580fc5b15b06376c8bf47fe5838d3ea701ac1fee54f9e932fbc927e9e0e59c6`
Upload date	Sep 10, 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-1.0.20230910-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`bc26088aa3901becc9b2ab06d9bbc99e601f76c0e89ab30a2f55d72bbb1cd0fa`
BLAKE2b-256 checksum How to use checksums	`f8671728b882ae23ae12f1f436adcb8898d5ffbb60530f2cd2bd2fc8227d106c`
Upload date	Sep 10, 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-1.0.20230910-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`d11a01420d2840b45f2b1672ce98e75fa160fec1fb9abdc53005f09332c43de4`
BLAKE2b-256 checksum How to use checksums	`89fcdee701f8be338343ff48961884815b8564efa088ef1c0c09bba56f9d8f77`
Upload date	Sep 10, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230910-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`86a4011f180287099b99b41eb60044266fff4ed161eb6e83f6629f01026e87f0`
BLAKE2b-256 checksum How to use checksums	`ae1c1442d2a1f9b3f4eea6608eee9ee67c4f0d8ad4218beb88f9a2eafb1ec412`
Upload date	Sep 10, 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-1.0.20230910-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`36f3a26ba2d4a677f9a5ed6e65468db753028dd63f81360eef53230951ce2b24`
BLAKE2b-256 checksum How to use checksums	`39891b49f3e68a191afa18f7979c27650846e075f020d64a7e385680494b14ed`
Upload date	Sep 10, 2023
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Release files / unitree_legged_sdk-1.0.20230910-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`3673f6a5afce445c686f815d5aad01c62bdf7bd883a94f1898959e031c46daf2`
BLAKE2b-256 checksum How to use checksums	`1cba9f24bb62b4b67d264685226a0b527909c0421d4067c7280d3d2476436446`
Upload date	Sep 10, 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-1.0.20230910-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`6ce6c40148b6ea0f94bda40bec8eebcbd86ed28435ab54f56310b4ce8e38cd35`
BLAKE2b-256 checksum How to use checksums	`502a99c54b23c8af449fd10f0f932593bbd623d124633ae383e60069d431b446`
Upload date	Sep 10, 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-1.0.20230910-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`ab7b685906b85741ecd91f92f17dc031b466121ab35ec7cd359f778c2bbbf0b4`
BLAKE2b-256 checksum How to use checksums	`9e00bb36ae625cd975bc225a81cecfd8d06c14c11d0eb7481b931ac0a19d53ba`
Upload date	Sep 10, 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-1.0.20230910-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`ef1e702f6a04162de3b82dad7ba95d00c21917e47ea820e03df2d397119e80b9`
BLAKE2b-256 checksum How to use checksums	`2c31287f5548c559598cbaca660df52bde4c760df04b959e0835c0f723bbdf5f`
Upload date	Sep 10, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230910-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`a64c44b55fabad3019adb40b04563825b70c4e57e30d85c0e852d53b451a9a53`
BLAKE2b-256 checksum How to use checksums	`0f18f73d6e3e7a75b64bd0dfcf48b96809dc54ed2fa0425070a605876684b42c`
Upload date	Sep 10, 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-1.0.20230910-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`629b8738ffe12f65d993bb92ecf89490aad36ca59961e6a1984066a1705cb4b3`
BLAKE2b-256 checksum How to use checksums	`1e15768f70034bd377ab853acb8593ec43841b58707a9a2ff6ba43c86ecff87b`
Upload date	Sep 10, 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-1.0.20230910-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`ace1d89bff782f2d7a14cc96729f5a151496a4af0032220b6898d02130693562`
BLAKE2b-256 checksum How to use checksums	`4aa728c7013d212d759dd8723cf43347e882141837c59eebced5bd352ff1c7c6`
Upload date	Sep 10, 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-1.0.20230910-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`b47af831d7ddd0f2d8d226867b3adba857254535db1a24eb08bd804f104e8966`
BLAKE2b-256 checksum How to use checksums	`e0d875fe51323725f7c7bc3f6c27262484c09094b452e0d4500774114481e59d`
Upload date	Sep 10, 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-1.0.20230910-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`670517edc741155dc37deed5cef3a99a1eae6328df33fd2d74c1033bbefbd16d`
BLAKE2b-256 checksum How to use checksums	`1e8eeb0b530a335d7724afa292c8c977e287ff55cc2624685d42df4e35bb7dfd`
Upload date	Sep 10, 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-1.0.20230910-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`37c6f01e6e38f1bf68494c2bfc8df5eef0ebb4fa085f9268401581f668780c0f`
BLAKE2b-256 checksum How to use checksums	`3e25e9515fa3c2c41ee011d1f53bde0fc55e305590dceb175acebabceda2dccd`
Upload date	Sep 10, 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-1.0.20230910-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`3523714f32d0039b5dd25a4f79a661ef58a009ad9d8803dced60e001ada3d9bf`
BLAKE2b-256 checksum How to use checksums	`d8e2fc95ab318d67bee6b4bc4c77f5d6b1a6a015440bbb11a5cc21a815e4548b`
Upload date	Sep 10, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230910-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`9d5c685a664c0bce97ba3fad86e1b973895c4dd2647a7041f4f86782d62623a0`
BLAKE2b-256 checksum How to use checksums	`dbc369f225e512ede14f063e4c1e2d6c6a1871cb43eb8324fd818b7d8aa1ba41`
Upload date	Sep 10, 2023
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Release files / unitree_legged_sdk-1.0.20230910-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230910-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	`599f602202c7c203a9e7307537d6d76565d82ea2b151274e8c6351367dc4ff62`
BLAKE2b-256 checksum How to use checksums	`d11fdb64ea76a4e61117c786bd5cb1705a33880d884a84a31768151773449d0a`
Upload date	Sep 10, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`