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 1.0.20230927

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 1.0.20230927
File	Size	Uploaded
unitree_legged_sdk-1.0.20230927.tar.gz	4.5 kB	Sep 27, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20230927
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20230927-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 27, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 27, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 27, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Sep 27, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Sep 27, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Sep 27, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Sep 27, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Sep 27, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Sep 27, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Sep 27, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Sep 27, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Sep 27, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Sep 27, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Sep 27, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Sep 27, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Sep 27, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Sep 27, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20230927-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Sep 27, 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-1.0.20230927.tar.gz

Download URL	unitree_legged_sdk-1.0.20230927.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`d7d9939c845f1f1373557182567a926cc2a3f331d748b6070da91dd6ed55c3cd`
BLAKE2b-256 checksum How to use checksums	`d668bd6c211c69b6ac806d43a4345c47f3e3ea4b049cbed813986ada28ac3acd`
Upload date	Sep 27, 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-1.0.20230927-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`f5d8771d0420bd90346b7a0e5f9c8161d44367cfb61aa755f207df1e96a11c77`
BLAKE2b-256 checksum How to use checksums	`397c0fd1b8cc5c435d575e7f79fd8e1b91ac431205c6300febcac76b15a43e87`
Upload date	Sep 27, 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-1.0.20230927-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`14f2ced21bbafff1ccaeeee0a573a998ea0da4d112789e0b326246fd91976747`
BLAKE2b-256 checksum How to use checksums	`742698ae2904ac564673a332367965b4c5803e1c3978a9ad346b4fa78c61a71d`
Upload date	Sep 27, 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-1.0.20230927-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`e5034fcf152deb7276f9e12305737d4f5e85e86d6d371315c340ef42a152e179`
BLAKE2b-256 checksum How to use checksums	`addfade1aa5012ea4b25d512ead35f16f96ace4e9237ddf7c52f84ba6aea3b7a`
Upload date	Sep 27, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230927-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`065c0e8622ef5e1797d97e2ec8331299b1df8d2db1e89e1f921fdcb64400f25d`
BLAKE2b-256 checksum How to use checksums	`f600105916ce213440dcddf95d14a3655192ff433de0ba35937f722c792f0e59`
Upload date	Sep 27, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230927-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`3a0a5a8291b6fc1cbca98c3a98d0558d69a4681fe37de8af6aad7da377a1cf76`
BLAKE2b-256 checksum How to use checksums	`0666156fadf518e7e201a17801e7ff651f931ee36b16fff4be3e0f042f485260`
Upload date	Sep 27, 2023
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Release files / unitree_legged_sdk-1.0.20230927-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`a2c268e112d88a41f49b2ab68277a36d3446d3064530b33cc89be38093e3acc2`
BLAKE2b-256 checksum How to use checksums	`6490d090002a4a351124faca9129e8dd1a20b1b27db27f5b2854102c00a177cc`
Upload date	Sep 27, 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-1.0.20230927-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`e0f1abe169d8351ed6dd2cc0901c08a868bb0e832be591de749bbf72834c587e`
BLAKE2b-256 checksum How to use checksums	`36c3dd9d8d71c06f13f50f0458758ec3e82619cdc961e72591e374101a44008b`
Upload date	Sep 27, 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-1.0.20230927-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`797bdf5fb534a0c11692cd2fd6ce4f4dcb9bacf7b47df887bbaca339368721ff`
BLAKE2b-256 checksum How to use checksums	`30f30db303d74732ce9eb73e98a166d2516d87fdabc84d2edac251cbc6c2f8c8`
Upload date	Sep 27, 2023
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Release files / unitree_legged_sdk-1.0.20230927-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`6ab25e7ed7fc011bbb29e96cd762cb278224f813edf26994671d8e4a8eb249e4`
BLAKE2b-256 checksum How to use checksums	`5cfc9101af1e30bc37fafba94cd8b72744feb1c996cc2c7566e0e9704936eadd`
Upload date	Sep 27, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230927-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`fc9a476c6d8758a6ffdea782c0cc5257935f5393306b4e553c1e37ee0eab6fa7`
BLAKE2b-256 checksum How to use checksums	`719a382e437cc8f6565925f1d9032dc9fcad885567c3d483b8837f16de40bfa4`
Upload date	Sep 27, 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-1.0.20230927-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`4eb1b57db95a1f7fce06307b16620eccfece982a342f8c5c73f0c2ee3fb156ba`
BLAKE2b-256 checksum How to use checksums	`bda0ee87eb93a8834d354eec361cbbef33017d362908d284e147198693ba6f36`
Upload date	Sep 27, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230927-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`67524f7eadbc738c2e56670d1b5b968132636fe65c72f86fee50c3b3f7c2ca30`
BLAKE2b-256 checksum How to use checksums	`497b2b13520d45e93a9df3c13509737ac0f42a3d76e817cd370a0cf867c81a78`
Upload date	Sep 27, 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-1.0.20230927-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`2bebcf3bbece775a48340a1a3e1059f9bdc064479fb463e974404e336ea8b254`
BLAKE2b-256 checksum How to use checksums	`a33e8760d30adea3398338819a17da8816a10fb6d668e038eb15495e74a34be0`
Upload date	Sep 27, 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-1.0.20230927-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`be5a8ee0725de024c142a3edb80202f3e06eb591bc44989155bb7b71dd2f0fa3`
BLAKE2b-256 checksum How to use checksums	`ae110b3b77773c73c5041202805f8451daac8252944330accd69203739d79479`
Upload date	Sep 27, 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-1.0.20230927-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`0e6a4f96db771f5d80ec7363a2d2fb5125e84ca84565afc8d8b12ade3f1ddad3`
BLAKE2b-256 checksum How to use checksums	`4712960473abf970d5b4b09b9a05e168a119e75485785a97559e0f2e43d2edc6`
Upload date	Sep 27, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230927-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`b26edf7374eb289436b23b4040a0ede6cdcbf882855683c844e08f8f7c869155`
BLAKE2b-256 checksum How to use checksums	`7523b6da2cc2b967aca987c68887c813377d394369e4ca9f58afe0f0678e9e29`
Upload date	Sep 27, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230927-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`f01e5936a0dcaa37ff237fadb8cdd85fe96e664afef36d6f986dd73c5e125e1b`
BLAKE2b-256 checksum How to use checksums	`b944566c4844b99ef41966dea17b49c56cd4a13fd4cec0052ba7128578a0b3ae`
Upload date	Sep 27, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-1.0.20230927-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20230927-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	`3c072912ad4f5ac34db2bfd670af3c73fa750edfe96b1a8a75a2207049ef6b0d`
BLAKE2b-256 checksum How to use checksums	`6cc135753d5a82afeba9cbc424ad608708c2185901513b4cf48a3495ffad07d4`
Upload date	Sep 27, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`