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 1.0.20231022

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 1.0.20231022
File	Size	Uploaded
unitree_legged_sdk-1.0.20231022.tar.gz	4.5 kB	Oct 22, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20231022
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20231022-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 22, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 22, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 22, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 22, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Oct 22, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 22, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Oct 22, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Oct 22, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Oct 22, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Oct 22, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Oct 22, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Oct 22, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Oct 22, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Oct 22, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Oct 22, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Oct 22, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Oct 22, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231022-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Oct 22, 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-1.0.20231022.tar.gz

Download URL	unitree_legged_sdk-1.0.20231022.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`b9e638425e99f8c56b3560380da8567e0a99707a0388baf8a814c1c5b43af087`
BLAKE2b-256 checksum How to use checksums	`c0452bbed643de4389563f8c71513f3585d9b8e1e0df98b90b98c2a4c6fd22c9`
Upload date	Oct 22, 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-1.0.20231022-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`709cb14d67a55e7f43408413821e99ec6b23b79438a17841f222f5f7b91865d5`
BLAKE2b-256 checksum How to use checksums	`367eb5710a429d32ffcf000385e035e085f424cbbdcfe3974411cb8611cc0bb0`
Upload date	Oct 22, 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-1.0.20231022-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`ba03048f52b9639a66424b3890c2e522b747aef3d72f08c136fcbd44d4a1ab76`
BLAKE2b-256 checksum How to use checksums	`9bedcefc507c78ac53a81a40fabb6feb08b0b43c6baa501af35ef22da8983eb5`
Upload date	Oct 22, 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-1.0.20231022-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`c9d370ac733c72e03e296c430ef7a273bfe6f0b7d2fa4c99621d3a7bad05ce1c`
BLAKE2b-256 checksum How to use checksums	`94eef7cb890cc2f3d0809017123bba23fc7ca05c086938ece50d04aea82166cd`
Upload date	Oct 22, 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-1.0.20231022-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`5be595d28a9ddaa652ff4ac32b4ba4d30f284f3c71e4de579cb60fcffc0d25ac`
BLAKE2b-256 checksum How to use checksums	`41e147ee158bee806e3d1aa179209070449825a1fd9dddf5be291d9df8d4546b`
Upload date	Oct 22, 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-1.0.20231022-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`2be740d6fab4dc0b16d2649694d593123ab528e5f390302adbbad84e87c64969`
BLAKE2b-256 checksum How to use checksums	`43377963556d53418433bb738b8a5d36eb9bec458c7d9f2a9ceb0c9ee817cf10`
Upload date	Oct 22, 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-1.0.20231022-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`f0ad29a053a02393a7ac26a0ff4b807e7cff5cab0591b545ad330202b97c43ae`
BLAKE2b-256 checksum How to use checksums	`def4c2cd28a3e26cfc03aae3de110cf35133c1a1a7c170eb9fa0acab5f1510bc`
Upload date	Oct 22, 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-1.0.20231022-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`31037e2533301c7a30b47d076ba3420dc49da3801409d0ad5335bd69f02cc851`
BLAKE2b-256 checksum How to use checksums	`a276286188ed61e7d41582d597950933e2301bfdbde42bfb9cd9695447955377`
Upload date	Oct 22, 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-1.0.20231022-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`1e1fce91ad7ade30fb1df30a08069d101e615e8dfeeba4b7a86a4d72cbdafd15`
BLAKE2b-256 checksum How to use checksums	`7894d3062f97251060de96a0f39754af7ce6674e42500dea06646dda53ec2da3`
Upload date	Oct 22, 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-1.0.20231022-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`9f975acddb756f97ba997185269cfc17bf09f4a5b268d3617a85bc7a03dc9242`
BLAKE2b-256 checksum How to use checksums	`0af5ebf9d0be7c34d3871f4685bab99fe730b0ede5b0036562095723e4472ce0`
Upload date	Oct 22, 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-1.0.20231022-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`e3a649a724e16cc8660a910261caf2fabf62ef1e9328efb5772994977087f7fe`
BLAKE2b-256 checksum How to use checksums	`c9dc1d922befd291a00dfba02ec3e6a0590d8e5cc81510976e588a52cd815167`
Upload date	Oct 22, 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-1.0.20231022-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`7e4628e147aa851c090402796eebe30b9ec1b729f50388f806397485ce480454`
BLAKE2b-256 checksum How to use checksums	`8ce9714bdb62bd3c7033c07c50f5d865d1d9d27df3da825fb263e82fa240851e`
Upload date	Oct 22, 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-1.0.20231022-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`f62e68495d21b921222971426bd32a85479c3e418909df5c81baa6e0145d7768`
BLAKE2b-256 checksum How to use checksums	`ae836c4980d26f24ff59811ac6e9bfc0271535f34c8e3f68f04c7674ff95476d`
Upload date	Oct 22, 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-1.0.20231022-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`58ba8c55f89c64f1b4e573fd80b4e3f8900945d764675f1fddb7c8856182f531`
BLAKE2b-256 checksum How to use checksums	`4b770a4dbfb3d6d52d383e62bc18aacb19bd020cb625868f052ab3295f0b55e0`
Upload date	Oct 22, 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-1.0.20231022-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`3186e0eddcee1059e36a3b35c19bfcdfa0f4c13abf476275a4cfe1d58b485ce7`
BLAKE2b-256 checksum How to use checksums	`5e5bfc2c6c1c909889557068a9340017a1c5f08b268d62eee756aba3ba18c493`
Upload date	Oct 22, 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-1.0.20231022-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`b23d17c966ef6d3b7c4e8afef778f88c1ca329949d7f6fe11adaf1445807892b`
BLAKE2b-256 checksum How to use checksums	`1997a1916893be37195feccdd4182d1ffa6f2f774bd3f7eaaf75593f0c787249`
Upload date	Oct 22, 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-1.0.20231022-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`a99082c424cb44cdcd7cf377079aaafdb2a8f1bb51a014459072e5ab370531bf`
BLAKE2b-256 checksum How to use checksums	`965e726e0a2cfa586f138e79a60278a2dedef97e6f7fa19756f14762dbce8b02`
Upload date	Oct 22, 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-1.0.20231022-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`99c46279d6dd1d7dd71c59a02fd8cb1376376fbf84049ade5e60061a1a1d4637`
BLAKE2b-256 checksum How to use checksums	`e4a9d0a0ee0f7b36b7dc1c34e42f1851ce916e799e285d3bc6546c92a6eb5e43`
Upload date	Oct 22, 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-1.0.20231022-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231022-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	`cb6e23a9bd5326354052abf90c64b1e73262eb9baf92a9bc86b8551180320d72`
BLAKE2b-256 checksum How to use checksums	`bf79da8d61ee138116b2c77a0855caf6a8fd8f88dd7b7181fe37d8147654c11a`
Upload date	Oct 22, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`