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 1.0.20231011

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 1.0.20231011
File	Size	Uploaded
unitree_legged_sdk-1.0.20231011.tar.gz	4.5 kB	Oct 11, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20231011
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20231011-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 11, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 11, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 11, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 11, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Oct 11, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 11, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Oct 11, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Oct 11, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Oct 11, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Oct 11, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Oct 11, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Oct 11, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Oct 11, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Oct 11, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Oct 11, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Oct 11, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Oct 11, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231011-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Oct 11, 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-1.0.20231011.tar.gz

Download URL	unitree_legged_sdk-1.0.20231011.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`3c1b83399da003767f97175e931209f4366e2cb85fcd8d36090a2f2312923302`
BLAKE2b-256 checksum How to use checksums	`8df5b37235b656fe3afc84a4533c87a8bcca276b45414cedf48c3966b70b9f88`
Upload date	Oct 11, 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-1.0.20231011-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`e0a8990da7b618e7aa919f4f2f18ab190d99c584c4bcc01f93b1840c5e0c83d8`
BLAKE2b-256 checksum How to use checksums	`8cf494edcc51b879b71846f6ebf9b3d7095d15e8ff9d8b8d4dea40e6392bac6d`
Upload date	Oct 11, 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-1.0.20231011-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`f8c62a1b380b040e4647028b65bf3d9bb794c55735282fde8c3be998f13f65e4`
BLAKE2b-256 checksum How to use checksums	`34838c685b448b86e63f434a8b2b53cd3dd3a5b0fb8fb096233f0184a339d61f`
Upload date	Oct 11, 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-1.0.20231011-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`f450aff854f95b99041d742d54ffa8c99a40d08abdb7d930b3a92a8df91e0789`
BLAKE2b-256 checksum How to use checksums	`1727590ab9a286452ef8d0d81b9417954e86372f139d3fd859a10edaeaeb3ddf`
Upload date	Oct 11, 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-1.0.20231011-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`5b868150a8837fd09364648e894f1322e820689a5a954fe263e798819c4209c4`
BLAKE2b-256 checksum How to use checksums	`429ead772a84cafdc9e7a9ec94e8e7c0d7cb5ea9f86fb0da692dd7533746fa7c`
Upload date	Oct 11, 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-1.0.20231011-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`e3d2246b2dbcdebc3bd3968c31585a3e81b6d276e67735f854f7fc4a3d2b725d`
BLAKE2b-256 checksum How to use checksums	`e5bde05f5f494ab689ea42a0dcaf6025d37073505d10fe430a79b608c8663d3d`
Upload date	Oct 11, 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-1.0.20231011-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`d34ba0e951a2b087d2de66b6c15fb13020d0faa6cd07e1d42b3ec765172eda7e`
BLAKE2b-256 checksum How to use checksums	`c4ad2ce54963460ac4b63d6e0d42a81d918d754a23b31253554b6d7298cee64b`
Upload date	Oct 11, 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-1.0.20231011-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`0902d99ee356df5765f958b2ee7b2078fa20d36f4f0f6c2d9b861016c2c12c63`
BLAKE2b-256 checksum How to use checksums	`d139a98e9cf7c95f08971cacb85e40ae7cce1c872339b10a2082b19620b732fc`
Upload date	Oct 11, 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-1.0.20231011-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`430a4bd6d6662bd188aa2c284fffedfb7406ca8516157336fbd24a686dd5f1b1`
BLAKE2b-256 checksum How to use checksums	`e6a17eb9c42519e6c6f8236ce25639f2f25fc7f778a06337f69552b6f223de23`
Upload date	Oct 11, 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-1.0.20231011-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`62b065eea859c3e44f5bb1154eb54b504cc19134fb2045e5e997574c64ff3fe8`
BLAKE2b-256 checksum How to use checksums	`e39934d727147a67cac5845e82968d8cd0eaac4ac910fafb0b521eb9c79e616c`
Upload date	Oct 11, 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-1.0.20231011-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`a19ec1def8e030f3bf9bce424a4a91cca15512a1bb5e9866052c3e13b7fc7216`
BLAKE2b-256 checksum How to use checksums	`6c96fb1ce587a7506cdfc39aaff2df8b5b66d9071f1255e4620b9a631d38b6c5`
Upload date	Oct 11, 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-1.0.20231011-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`8a53c34cc023bbafe040b9cc37cade2a344a98b1c38dcdbad97f16d1e99ce358`
BLAKE2b-256 checksum How to use checksums	`cad1aa143582620ee16deb8eb081ea6ed519072b680eacd4f4a66e673db5f881`
Upload date	Oct 11, 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-1.0.20231011-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`723d6052615b9a55d631def5b35c1729c33080c2d0a9f29ddd772d1d1ae31c82`
BLAKE2b-256 checksum How to use checksums	`44220fc63828261b2a09c8b2126feb948a837ccfe204e3c3df06b398f3ce7cac`
Upload date	Oct 11, 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-1.0.20231011-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`0a5ad6bb48a9f004730a9ef8c571ef4b42a9a509ce1466e1c4188ce4bc92e003`
BLAKE2b-256 checksum How to use checksums	`fe3caf2653e055060b451a3ef27bbeb395f21362871d9b3c1cea29fcf22251da`
Upload date	Oct 11, 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-1.0.20231011-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`06f96293184e1f82ea3ee74c738f51a76c4931b63bd71aa3a63341d650a211fb`
BLAKE2b-256 checksum How to use checksums	`55c98ce042f4f995ba75fb55a7d298663d1af8e6566237757f9c2f9ff45cda2a`
Upload date	Oct 11, 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-1.0.20231011-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`5f8341bcc0bcd7c02b38590074320262098df943a1f1fd19c1caeeee12b12e2d`
BLAKE2b-256 checksum How to use checksums	`3fc62b7075454f22bb606883281e326b26bcc618665de0dc033dc210259fed8b`
Upload date	Oct 11, 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-1.0.20231011-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`20dba4d11a1152c1d732d62c4fcf6355289d5dde8551ebaf001f4d862c24dd4c`
BLAKE2b-256 checksum How to use checksums	`58e56cdb24f072c46aace6df253c5527f6c539a74b8d9a9df56550c43180206f`
Upload date	Oct 11, 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-1.0.20231011-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`84597f98265b13a4250a82ba0f39be3297994986292f4337ea86847385a018fb`
BLAKE2b-256 checksum How to use checksums	`171f627c7ea56489fedb36e26c3c71569556b078b315413216aadb6e8c68f9e6`
Upload date	Oct 11, 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-1.0.20231011-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231011-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	`35054dc020188e82cecae49d9c29c91a59116f652757ce2fa4b8956170b2eec4`
BLAKE2b-256 checksum How to use checksums	`2bba397a049b8255cf7a4abc958f5a337e606a00a53f1b687415f25d27bdc244`
Upload date	Oct 11, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`