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 1.0.20231018

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 1.0.20231018
File	Size	Uploaded
unitree_legged_sdk-1.0.20231018.tar.gz	4.5 kB	Oct 18, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20231018
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20231018-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 18, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl 149.3 kB Oct 18, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ ARM64	Details
unitree_legged_sdk-1.0.20231018-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 18, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 18, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 18, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Oct 18, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 18, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Oct 18, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Oct 18, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Oct 18, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Oct 18, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Oct 18, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Oct 18, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Oct 18, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Oct 18, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Oct 18, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Oct 18, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Oct 18, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231018-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Oct 18, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux glibc 2.17+ x86-64	Details

Total release size: 6.9 MB

Release files / unitree_legged_sdk-1.0.20231018.tar.gz

Download URL	unitree_legged_sdk-1.0.20231018.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`62dc78adaba5b85b49541ae058143abc368696fb70f28a160360907d78f03563`
BLAKE2b-256 checksum How to use checksums	`069eed83ff6fbddf12a17d925e30e0d8ed5dc25e2ef6894ecd6b43a969ddb254`
Upload date	Oct 18, 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-1.0.20231018-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`f647ea68c80576c45ea2bc80f02f09b6485e93008807732c1e64718836b26833`
BLAKE2b-256 checksum How to use checksums	`8cd39c1cff61425947a452d5ff137863942c7e304189b7cf39ac2a46955cbef4`
Upload date	Oct 18, 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-1.0.20231018-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

Download URL	unitree_legged_sdk-1.0.20231018-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Size	149.3 kB
Tags	Linux glibc 2.17+ ARM64 PyPy 3.10 PyPy 3.10 7.3
SHA-256 checksum How to use checksums	`c9029c7b38c79852de1170543ad467edf1cc310fe788c334cefd25fa5a99a4ff`
BLAKE2b-256 checksum How to use checksums	`f3e24cbf75988256c6006b23f7eb5e057da1467c45ae8e0d989d20e9d24d4834`
Upload date	Oct 18, 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-1.0.20231018-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`0c2f68032415f8f7b9cf5e0f934520652d1c5b006ab84a0ddd9228bea692cc5e`
BLAKE2b-256 checksum How to use checksums	`a0be05f579fc8a6eccf3ec0278fd6b88fd19fc8ef8628750e8a946bf4644b239`
Upload date	Oct 18, 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-1.0.20231018-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`a06a2f5904d24ce8b6d8f9f018b0e7ae30696b952ccfd749aa14829488a4757d`
BLAKE2b-256 checksum How to use checksums	`98a59d54cd3df1a51fa29536c53aa8bef6bf6a731deb456ad3abeecc5939ace4`
Upload date	Oct 18, 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-1.0.20231018-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`46b2386fed359c1f71612feb84c9b91d30cc0b7ef5858fb5e034449e979defc2`
BLAKE2b-256 checksum How to use checksums	`aba6c2e0642a2c6d895011efad242327947da0286a9b1acc968a0c3d1df0ce33`
Upload date	Oct 18, 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-1.0.20231018-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`10764b1fb85342657e4784cc207734cf15b64bdad4508db475a447f60e4b5f88`
BLAKE2b-256 checksum How to use checksums	`ec6c7ce3b0ae18ce48fe92c934340a3bca42d17da1a61bf184eb3a1471fa90fc`
Upload date	Oct 18, 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-1.0.20231018-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`e20aadd259e7d687c45a0b4f843ed526e13234cb1e325655cd3ad6248ff1bf65`
BLAKE2b-256 checksum How to use checksums	`6bfa3152d785db5e304c8127e03fb16200e8c42cc30ac6ee22e4eed8acbf1620`
Upload date	Oct 18, 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-1.0.20231018-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`7051b95855e5ed0ccb745b09df586785e11f3021ce1acec13759e2d8082588d5`
BLAKE2b-256 checksum How to use checksums	`91cef02f30c11a69532f193a0e9b257d6305f80e87c01c758161da75b62d6079`
Upload date	Oct 18, 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-1.0.20231018-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`3a7a69ed05e929e46ab83145c737df3b249be96890635c1cb0393b50605cf869`
BLAKE2b-256 checksum How to use checksums	`bc39db9817568722c13e426c77e83a7ffe25ccb8e1f3963b6644f97253231835`
Upload date	Oct 18, 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-1.0.20231018-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`ba66c5e5c9580ee472d5b1e4308c25ab805ce7adb4f6c52411729f4630021c8e`
BLAKE2b-256 checksum How to use checksums	`164477316a633142e8d85fd4236be2b2c827b282a76862c8d3e40e87da123178`
Upload date	Oct 18, 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-1.0.20231018-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`4433a1138a1cb01394d858afe8066e7bfd9e62cfd457f36b5c974cac3de73d34`
BLAKE2b-256 checksum How to use checksums	`7381818c8336eed5b5a8687ed0ed73c7205a3f46a8876d58eb83f272e27b1ddc`
Upload date	Oct 18, 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-1.0.20231018-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`27dfeef638eb56cf22a498d15f9142b30c286bfdb8b90cd56b9d360e8c650dcd`
BLAKE2b-256 checksum How to use checksums	`33d8b69a8a04dc6cf1d1d7e80ba86ca6dd0e195d6686e8d761aaef2f0dc4e2c6`
Upload date	Oct 18, 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-1.0.20231018-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`8580647f9c5d733e80c917f396ed7f928c4c3940aa9a5dad6d439a562d3f1a12`
BLAKE2b-256 checksum How to use checksums	`b8f92036a336105de87c645bd90904886a8c57ae825ead98bd267d10e9cf12e8`
Upload date	Oct 18, 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-1.0.20231018-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`c0caa5686c4baef88a1bfb55f8e2fcd5750453bc33a6ab93d65e4f8e9ea1c7ab`
BLAKE2b-256 checksum How to use checksums	`6b1f6719265e7a01dcf25c8ea3025133ae60912283ce49346ca5bb06045c731c`
Upload date	Oct 18, 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-1.0.20231018-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`c8fb65d9f9298c6f926d77eba3e9e591d2a61a960e11fb67fce624ab5b4e498d`
BLAKE2b-256 checksum How to use checksums	`a43b8790d62a061c00261c09e1278cf7e18b645849d6b8b27289a0f83b87c069`
Upload date	Oct 18, 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-1.0.20231018-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`85ad81796b428e94787114dc9b2a0f57c6e8d313beb1d3b806fa8b252fbad2ba`
BLAKE2b-256 checksum How to use checksums	`d14e7f6ecae90a4113c9b9bdade3a542462fbc8b6e7ac7e59657d6801d1d877b`
Upload date	Oct 18, 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-1.0.20231018-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`4d48a1e23784789778aa421c512c680ffbfeeb8bb065e38fc82208df9e66c5b3`
BLAKE2b-256 checksum How to use checksums	`1b8b22799902956604a15aa7d4d2a462a96dc756b44c78b8e09fb0eca5c6316c`
Upload date	Oct 18, 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-1.0.20231018-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`1a582eeb2ea6e209c3018b3b723f08c121d8f9a6a0d6b2d4ca23d86fcd482db9`
BLAKE2b-256 checksum How to use checksums	`c1aee7c46e7868386ff24c444e9e65e8d6ae10381ff869b3ff08356d9de92415`
Upload date	Oct 18, 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-1.0.20231018-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231018-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	`bc4504f534cba96c66eb0e62ae7811bd9216f6a51973df9d3472e4236ad98ce5`
BLAKE2b-256 checksum How to use checksums	`a144339a6b2fba10ddf6667a7713d441fb40bbb8cf4a083581773202ae894158`
Upload date	Oct 18, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`