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 1.0.20231015

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 1.0.20231015
File	Size	Uploaded
unitree_legged_sdk-1.0.20231015.tar.gz	4.5 kB	Oct 15, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20231015
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20231015-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 15, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 15, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 15, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 15, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Oct 15, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 15, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Oct 15, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Oct 15, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Oct 15, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Oct 15, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Oct 15, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Oct 15, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Oct 15, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Oct 15, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Oct 15, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Oct 15, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Oct 15, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231015-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Oct 15, 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-1.0.20231015.tar.gz

Download URL	unitree_legged_sdk-1.0.20231015.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`3fc844a446308f6cdff10aa3c006fe2a36c10b3b963215376e1003277b7c9343`
BLAKE2b-256 checksum How to use checksums	`ef28b6732cb1666a0021551440b63333b6ddc34c4162f62e868f118691aa3d42`
Upload date	Oct 15, 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-1.0.20231015-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`6dc503e18d6207918385d45f9ae2f4a5cc0c907e58b7bfdfc8d102d23cff0991`
BLAKE2b-256 checksum How to use checksums	`238f3d18559e54df4f5d128b307eb74b10f74c578155021838e9d56b1f806776`
Upload date	Oct 15, 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-1.0.20231015-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`8c92f927b12f34d983c1f2df1eea6b42c462215556d299fef7a563d155bd9283`
BLAKE2b-256 checksum How to use checksums	`df6a067a262bfbbc21dcb6b6f235e8a3f6c1b5115b62a3d362a083dd06113806`
Upload date	Oct 15, 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-1.0.20231015-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`ddc0f0575823b230625aeef08ba01a8c07600901ff542295f6fb3ffcb98296b1`
BLAKE2b-256 checksum How to use checksums	`fd656f192cca5de0d97ab237da918db9d2f44213411f9fbf50baee0ef6194893`
Upload date	Oct 15, 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-1.0.20231015-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`8ebafc6e27a3ed819e5177ffb7439ac7c49182ad35927c798ff05d9146b4e995`
BLAKE2b-256 checksum How to use checksums	`386fe2bd8943b567c756b8c4cc223015413265c0b2509570721a5163cbe44d3d`
Upload date	Oct 15, 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-1.0.20231015-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`a6748e76a8eae304125965c6488d4bbc4b2cb053f4bfc2b15b78b8530c090193`
BLAKE2b-256 checksum How to use checksums	`39441552e90f61fb049e058ff4ba22342f2aba5c1cc0b4270cd3cf7be42c018c`
Upload date	Oct 15, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231015-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`5790543c6a9b06885e644bcfca76021ad4e5a0e0e4529fbf7526cae274872f7a`
BLAKE2b-256 checksum How to use checksums	`38d5221f637257b7d601504edf69873fa446724b44727d1646c653ae51dc4615`
Upload date	Oct 15, 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-1.0.20231015-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`5a454bfe86c61174948e1580e0f1559787a080c320150ae968b2fb68dcfb098e`
BLAKE2b-256 checksum How to use checksums	`95d2d62de95ba545d0a16ad62ff956ee9157680dbccc2669192c38857d386b32`
Upload date	Oct 15, 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-1.0.20231015-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`56d3a5adc3ee1046801ae85c3eeee5902235ff336b1549b6c04e9cb052d57763`
BLAKE2b-256 checksum How to use checksums	`90a1cbc4f827b162ebac827cdd0b23eda7409e5c216fb0510818c49dfdf6af82`
Upload date	Oct 15, 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-1.0.20231015-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`d131567b9a6c81a67e3ae6b085f85b3b0d2c9d8b166992f4214517c7e750e69c`
BLAKE2b-256 checksum How to use checksums	`449cd63a248f89e9987b64628d6929585c8681a62c22d09d64ec69618a519759`
Upload date	Oct 15, 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-1.0.20231015-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`9adb86fee16e7f203107e8fd4e36acb63d24e0c9be196ca89054c0479497485e`
BLAKE2b-256 checksum How to use checksums	`5cfca3f83d29d7b2ca429f6237f39f655e7be6382194f960c0148540d512673f`
Upload date	Oct 15, 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-1.0.20231015-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`5a945420845ea9d9a5ec328f9ed65da4a142e55b8f5da5a8e6d150d5ee6d32f7`
BLAKE2b-256 checksum How to use checksums	`936178b60b116b72fe64b085c71d503d3663c956cc6bb2f80a0f19e25c499585`
Upload date	Oct 15, 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-1.0.20231015-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`1b7394216815e9f3cbf703b5f453d8f11f06cbdfe8093fab55ca061c37e31c97`
BLAKE2b-256 checksum How to use checksums	`d7c1ffd2ed6abc1b7567208f6947537ce1c7f8541b6241e97a689c1e2e4aaff9`
Upload date	Oct 15, 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-1.0.20231015-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`5ce6820fb77b34096ad6f0c2a906fabd92240c03c1d92ac5d2490cd22757c4ec`
BLAKE2b-256 checksum How to use checksums	`0392ea7f3fd6052876840d84a556fc0c5d16b6112dd90cde7c34bd7ded158113`
Upload date	Oct 15, 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-1.0.20231015-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`ea97b3fbd23f9b9e5a69d7d23ab82b50b75e9e5ddd780ecd666a59828d019e7e`
BLAKE2b-256 checksum How to use checksums	`164616ad4e0f4af83e1355048fa1c4479eb6b54fc37034e36a159e13b17449cf`
Upload date	Oct 15, 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-1.0.20231015-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`2156ea3eb7690ab6a118cd19bdbb9cc1cea7e261bb0f6dca8736668530a66539`
BLAKE2b-256 checksum How to use checksums	`675c05110ee715e8be1b35d82cf14198b77e0e4b81832b23c7b47a0f6c4f0330`
Upload date	Oct 15, 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-1.0.20231015-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`ec1dd6be5cb356a47b5d9c3734a8644d1eb71bf64726c8037d37d75cf2d1d9c0`
BLAKE2b-256 checksum How to use checksums	`7a5046f3c3534301a0472160966973fdcaef68e6e59f58b2aa3f76a2993ecee6`
Upload date	Oct 15, 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-1.0.20231015-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`b585897c70362079fba07b719e671b1449ff2384da866d35a41c3cd139807457`
BLAKE2b-256 checksum How to use checksums	`134d9af4238f7df5f03f982e5f14f96ea90305a015e6e5b4a86214278540e41a`
Upload date	Oct 15, 2023
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Uploaded via	`twine/4.0.2 CPython/3.11.6`

Release files / unitree_legged_sdk-1.0.20231015-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231015-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	`abdcdccc2cc46d7eee4296f47f341db27f63b56928bc16ac8d5f0e626f4cc929`
BLAKE2b-256 checksum How to use checksums	`9d4ec741d7c9b9392c786f0f4c2e4d71a0ecd90e91bf30884323627c1f5dfeac`
Upload date	Oct 15, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`