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 1.0.20231008

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 1.0.20231008
File	Size	Uploaded
unitree_legged_sdk-1.0.20231008.tar.gz	4.5 kB	Oct 8, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20231008
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20231008-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 8, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 8, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 8, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 8, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Oct 8, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 8, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Oct 8, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Oct 8, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Oct 8, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Oct 8, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Oct 8, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Oct 8, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Oct 8, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Oct 8, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Oct 8, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Oct 8, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Oct 8, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231008-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Oct 8, 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-1.0.20231008.tar.gz

Download URL	unitree_legged_sdk-1.0.20231008.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`7c98eea8c65fba103687051ec6a5d308b38decd54684be06f46f62213c0d3c96`
BLAKE2b-256 checksum How to use checksums	`54fc2101d1d46de535955faadac8dc6fd9beee51c823d990a4c679c87a4bff1f`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`770ac61ba010808479962fc873f9acf8f015ac4d06d69a8583708861db4a35bf`
BLAKE2b-256 checksum How to use checksums	`e96ceaca05c5109323210de50c72e77b31bce086d7844a5e63004da8e095869d`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`1ff9157e71c1d4d2d177f1c3aaddad48b02583f471f5a3072bf6bc4d75647ba5`
BLAKE2b-256 checksum How to use checksums	`6a9ca1a60316b6b07f737c23fd666404a9fd81171462607986759c03f81084ac`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`e49643afddb7df5d3b3103ed073cc06676e5d7f439634d34e522877181416cd7`
BLAKE2b-256 checksum How to use checksums	`bc91c9d0aa87a5b9cc55db9fdb2993ce1ed6cb4ef319e4e970fcf1ecea427620`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`3a5565ed5805e6c4b4e0dc64bf2fb9c0efe5ff8f19f6678c83a44d996ee474c7`
BLAKE2b-256 checksum How to use checksums	`145be166a9f9260f2fab81dbdaee672159af70800946d439ed81e6cc9d6a0452`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`4a128636544b112122145a1658cdff230e3f019b276f467994e23272fe8a4eff`
BLAKE2b-256 checksum How to use checksums	`2c9966a5886bfad1ca536c5ed3bce9609ba925e380eeea68e12e716e53582ae7`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`40fec28c5bb9ae2e6b1e7d29ab083303c444bed82943214c589aaa3902dd8221`
BLAKE2b-256 checksum How to use checksums	`97f2728dcb4caa85d97dd5b78107908e198c45c271699470c8673c1aeb1d09cd`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`4f71405c6632d6d38c8c225a7988cb6e6f9b884311852f0dd9e26fcac9e6bd74`
BLAKE2b-256 checksum How to use checksums	`be5b6c040365b4646897466856c3b170eea19420dc50c8470e28bcc934524da9`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`f13520e714a2516c7d62b2d0b7f667e61daab4fc74f5f79d8cb064e5175aa20c`
BLAKE2b-256 checksum How to use checksums	`5c75d71b2bfbba5585bb58d15711666781b7a93c207cacb342970b714dbbd9b2`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`848996292b4532b0a70e865d42f7682f5ca4fdb84ab02000d7a6b5416731bd96`
BLAKE2b-256 checksum How to use checksums	`795b92f7b3efc8c09f7742e9cdd0a0bf887a03498338e6ec56b11bcad6b8cb58`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`1165f4b2a357a02d3f189cbba30f01bf6e3b5db4d173ea1f92ed9261a731f63b`
BLAKE2b-256 checksum How to use checksums	`ea104f461b794360d9e9e4116aa05af6fbd8340933bb974807224f81050bd847`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`7d1aaac14d9019b094f2118a0659dcb8295277a6ad2bbcdd738bc0538c5d8703`
BLAKE2b-256 checksum How to use checksums	`d54f4389751b45f22a1090aeee06536e444a59717bb75e2fa4e8a6e1a48b271f`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`34953a1eaa5041fd2e9a671a8645ff7c7a8707ee991545c5885a5f43c3cd99d6`
BLAKE2b-256 checksum How to use checksums	`3aa2b43c47d640b58b6ca38b91697e194036e519025c61864d3c2acb3ce689a6`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`24818e60139e069212fbcb5b94985d886f6ee7beba66f5a32cd58604564a0d63`
BLAKE2b-256 checksum How to use checksums	`1bc27ed81405ae11367ef39129fc27297059b17a5d879359ba7b15a32c741299`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`332a52bd96f951087458854f40cc879453f9321a689571def3cf10a6d94cf9c3`
BLAKE2b-256 checksum How to use checksums	`9b45288dc24bdbf07fe47d8d7a44e69fb0dfb8594aa6d7211ee0116cb34bb45b`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`4aa4859b43e60bab706824dab32d8c2f2415c8369781920fc2bc62178fa6593c`
BLAKE2b-256 checksum How to use checksums	`b00f24e8cf5ba2948bb5ae111b57a85e356d3c850140e810fde7c1af4a9f9797`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`d21bbbe9af2efec4ad0db90fec29e70ca0c11f6b304b132fd6cb5e0147a4ed1e`
BLAKE2b-256 checksum How to use checksums	`1aec8e4b695d55f7f30a382f20a773e335fb03365510bb7d0d3fc3012a0c6ca4`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`073178f5acf39404bd0cdb4cbafd0dc0f5efd4d47d02d522003801d5758f6544`
BLAKE2b-256 checksum How to use checksums	`673456c3a6c4ccad905f7625fb5ea97858e5235f45324ba5e7001abebe6e736d`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231008-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231008-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	`9bb36f94250150286b5f13af542a4f04e8118aa6efd89b8d77981f833df35458`
BLAKE2b-256 checksum How to use checksums	`052eb5ddbc008ee26b41575801f48caaee3caf4b1f0ead0a8a89659d79bbc238`
Upload date	Oct 8, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`