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 1.0.20231025

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 1.0.20231025
File	Size	Uploaded
unitree_legged_sdk-1.0.20231025.tar.gz	4.5 kB	Oct 25, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20231025
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20231025-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 25, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 25, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 25, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 25, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Oct 25, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 25, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Oct 25, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Oct 25, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Oct 25, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Oct 25, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Oct 25, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Oct 25, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Oct 25, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Oct 25, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Oct 25, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Oct 25, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Oct 25, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231025-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Oct 25, 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-1.0.20231025.tar.gz

Download URL	unitree_legged_sdk-1.0.20231025.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`dbd35ae06777f607b455109eb107f630ac439f0969dbfb587d64b47544831a8f`
BLAKE2b-256 checksum How to use checksums	`d8ee95436c30a3d3d48c3edd57d73ed635d4658f286cbcecdfc7e1a90e19c1c4`
Upload date	Oct 25, 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-1.0.20231025-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`2feb17e525cdbab1ba97685b175a62e3f479cb3ff2cfff7199e4ded38945c862`
BLAKE2b-256 checksum How to use checksums	`380a9049f86975cb2232771f508c7019f6f9a02816be2248023ff6886ec76ab2`
Upload date	Oct 25, 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-1.0.20231025-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`68f81c20f50c309ae074ca047bca1561d6d82a1051c20eb48f59ef17f4f0f348`
BLAKE2b-256 checksum How to use checksums	`d30df903b5c7433c75f9ac17fc1bc2cd8dddb05a7ec75d8449810d5c50a564de`
Upload date	Oct 25, 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-1.0.20231025-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`b1fb070e6bdb595cf02d7617394710c9bbddfc29073203f1da6214c76ba0cbd3`
BLAKE2b-256 checksum How to use checksums	`40054e5ac22d6987fd1f309dabe6d590e429279701d7342d0f69c71dc43fab87`
Upload date	Oct 25, 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-1.0.20231025-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`e5456951c6334e788a081cfa7e74036da93192da36d4fc4c4a10865306e89568`
BLAKE2b-256 checksum How to use checksums	`dc599ecd6db58485078146d1fcd4a2abaa1b1a1f7dfbe332c92872c04ba285f2`
Upload date	Oct 25, 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-1.0.20231025-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`0e349098ec4aa42b1933e78baced4618fbe53a8d14ed1001b3d07fff81fbd4bb`
BLAKE2b-256 checksum How to use checksums	`d0150de25145088c3a245242c5f0152143073beb861d1205f7bb403d25867b78`
Upload date	Oct 25, 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-1.0.20231025-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`5101b07e505fdc082887f3c52ccb82229b4bcc0d848e10411d89775d0d8d2c97`
BLAKE2b-256 checksum How to use checksums	`c481a4f5db6ea88023d6d39eb4f084b6641911973116efae94d83fb7a1400f72`
Upload date	Oct 25, 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-1.0.20231025-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`08c05f5af04e6e7358c26703c9577d87a3ed9dbbc3d4243d72be14393aaf2df6`
BLAKE2b-256 checksum How to use checksums	`30746cd79ff8b95a15903ebbd6d83a2c5227efd067c36bed558b73adc1f69bd5`
Upload date	Oct 25, 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-1.0.20231025-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`f524f0020a4cbf19840a4d41d820dd11b2c200f21e084ca3050e04e656a0809f`
BLAKE2b-256 checksum How to use checksums	`a49ac72cc8b3036ab66ab3f4b73a627777aba61cc460f80c2338384a444bb044`
Upload date	Oct 25, 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-1.0.20231025-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`fa57de84e25be80d14d67836f3d9742e7feb5bace29cfd7c6e7c0f636ca2a670`
BLAKE2b-256 checksum How to use checksums	`24b12a2e7f0f369ec02109db0cef4bfb67bd0c9767119cc4c9d243202ea1f9f4`
Upload date	Oct 25, 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-1.0.20231025-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`c47491f5fe5298a075cda9e545909ca6f74e3a5e37200b45c0cd5cc84e3b99cd`
BLAKE2b-256 checksum How to use checksums	`82a9129123e7bf1b6c654d26f205bc7ac6c2091b657d95bebeb29bd2cea63a74`
Upload date	Oct 25, 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-1.0.20231025-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`02e7c289d52150a74a36269bd9edaba7c9f7a2c79db301d6f67ff11707dbe8aa`
BLAKE2b-256 checksum How to use checksums	`345ba48406ab42eec13dafb2265f465be8b783bee8172c98a037942ffba531ee`
Upload date	Oct 25, 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-1.0.20231025-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`38106a9c732dc97b98084a49151610e88110f0a04983acb842a2f287d3acd4ef`
BLAKE2b-256 checksum How to use checksums	`580c844f9b45288f8bb53904523d6f4b4cfd942664a168c22166b5e2d17ffda6`
Upload date	Oct 25, 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-1.0.20231025-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`b56789142bcd831861205c9e4fe0bc40f5e6fc1d35b471d3b006c42924c92c3d`
BLAKE2b-256 checksum How to use checksums	`a331ccced729cff130606aef24e87da5c19abb5ce1d48b04ac8e5e2363edc584`
Upload date	Oct 25, 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-1.0.20231025-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`07044419d31816bc18dcc4b393607ac438a00879c94d9bdcdea68d5793c3847a`
BLAKE2b-256 checksum How to use checksums	`7b23825530c7cacfa57592ca7e69cf4a2b46fdff297e1fe7bbe4407622eb31c1`
Upload date	Oct 25, 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-1.0.20231025-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`f97a89f4ef8bfb4570a933b57d3db987ea1b4029d1d90e35ff7d4ddd6855f8aa`
BLAKE2b-256 checksum How to use checksums	`e2562effef2ae8063d244c5b3df691d936964d3b38d7d42d4bf6935bfa2f65e8`
Upload date	Oct 25, 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-1.0.20231025-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`c7b5611ef5f83ae914c429d4714e712453a45140650c2e3158da4c9f533d5c6d`
BLAKE2b-256 checksum How to use checksums	`dd8cf7e04b77eefdef49e6e92b6dd5c09bcfe2b4441df08e83f712bff4ccb8f6`
Upload date	Oct 25, 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-1.0.20231025-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`d97cb5bcea2a4c31908f09d61ceb99bb2dab35a6bd824c3abd72a250f1b49d76`
BLAKE2b-256 checksum How to use checksums	`0959f2f82d7b069d11174f6efe126b96106f382a92006cd83fd62cff21775c08`
Upload date	Oct 25, 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-1.0.20231025-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231025-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	`808dbff9d5bfb68e1574524170325219bc33cf44daf6cc99a010f9549754e36a`
BLAKE2b-256 checksum How to use checksums	`05e115b702773d535663b81d070b3a052565c0d1e1c6003d0d6fc18aa4baa98e`
Upload date	Oct 25, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`