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 1.0.20231029

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 1.0.20231029
File	Size	Uploaded
unitree_legged_sdk-1.0.20231029.tar.gz	4.5 kB	Oct 29, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20231029
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20231029-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 29, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 29, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Oct 29, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 29, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Oct 29, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Oct 29, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Oct 29, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Oct 29, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Oct 29, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Oct 29, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Oct 29, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Oct 29, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Oct 29, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Oct 29, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Oct 29, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Oct 29, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Oct 29, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231029-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Oct 29, 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-1.0.20231029.tar.gz

Download URL	unitree_legged_sdk-1.0.20231029.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`2f0594c97ca0dacdb39dee51edef648c1c3a7c03736926f67c0c9bb7e6b4d66c`
BLAKE2b-256 checksum How to use checksums	`988f987712275a44702f53514aa7d68cbead8a94dce742f8d7046a6ad29a094a`
Upload date	Oct 29, 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-1.0.20231029-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`fab4413a72facaba31ac1aec130fe6b404d42cc6139b997d5ce780009d097165`
BLAKE2b-256 checksum How to use checksums	`b22c73863d31a1b1352a2b7a0570a1141dc82fe70c047117055553d2cc980554`
Upload date	Oct 29, 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-1.0.20231029-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`5af06161211ac238738c33c8cc6e5aa1b1ade6bd620c55e04e47bd98899d7861`
BLAKE2b-256 checksum How to use checksums	`94acf069d5cbba96145a56db1eb618ccfed323280bd740577f023e85974ffae9`
Upload date	Oct 29, 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-1.0.20231029-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`78a59ddb52d2de1640995f56c22a5a9c58b13314a735ab533dd028317b33c53f`
BLAKE2b-256 checksum How to use checksums	`2c79b773b80dd32a2d84c54ffdb3aafcfae1495d2c1be99e9ca814e82b613d87`
Upload date	Oct 29, 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-1.0.20231029-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`3f3ea102676082b670b8905efddbdd3107564ae0840c951a2bdeb1679d11cf95`
BLAKE2b-256 checksum How to use checksums	`80ac65346d6be1f0648c19f43abd1d0dd1364151af8abf592e1de2c120521b13`
Upload date	Oct 29, 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-1.0.20231029-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`4cbcb5c1c13659ce85b0963f1a3ae1da2a2cd590484ee4423cfe34a4ad78349c`
BLAKE2b-256 checksum How to use checksums	`9feb43ffc95af4f65f6298e7e14bf5631db28f2f7e274d723795db145ae86216`
Upload date	Oct 29, 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-1.0.20231029-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`d1648664356b72852e8ee755289c32fcd3abfe24e9c141783790594ebc46d72f`
BLAKE2b-256 checksum How to use checksums	`e6333205321f35f899e1cd62b0a6e4a84ad51c30d6103a63f2674bb017f22fc3`
Upload date	Oct 29, 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-1.0.20231029-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`0c04df11e7d9a379cf55f766df045d7326f0f52449f9b6fc4e9eac197028fdd7`
BLAKE2b-256 checksum How to use checksums	`71bfffdc3839b14034b64f1971096e2a3d69efcd1bb404b7e2933ea93cab5ac6`
Upload date	Oct 29, 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-1.0.20231029-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`b3d28ebe0a029da9db434cdf5d21e77001028e5e0ee7b14a83fc10d9d9b43b9b`
BLAKE2b-256 checksum How to use checksums	`81a639a49c2204d145d2c1b70926cc2bf6392c407235e0be687f26b65e05713c`
Upload date	Oct 29, 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-1.0.20231029-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`9809074a21ce8b095a8c18fb7ab610f0a09c31aff327551f9c4671277e51bfaa`
BLAKE2b-256 checksum How to use checksums	`a8766b3219bbd274c10bde6afc87b54a7e599edf30bd3bb04267940fe05cc1e3`
Upload date	Oct 29, 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-1.0.20231029-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`cccaf31eb8f661411136fc65883fa31a85102fd1e503739e91c11e249a3c7d6b`
BLAKE2b-256 checksum How to use checksums	`4daf8825ae928e618a2a121475787752d20bcb969cfc199136f5f99f4597bfe1`
Upload date	Oct 29, 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-1.0.20231029-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`b86415db5ec8cb79a0d1749fb17996a79b81299e057a06a3d1003eb09494f37d`
BLAKE2b-256 checksum How to use checksums	`eb5cc06e06b72f8a5ece58805aa624714c079abba6d282ee6a59a3bc6166f85e`
Upload date	Oct 29, 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-1.0.20231029-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`030e8b62fa1bf0d24eeb676c63fae624c638d3ad4112be1fcc8be3fa3351cdf9`
BLAKE2b-256 checksum How to use checksums	`cdaee300300d32ff9b5e8149a3ae5bb974a2a2a481709705e15eea789a3e3d4d`
Upload date	Oct 29, 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-1.0.20231029-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`e68a4e23a68420865d6f865165352a18eab5f5cf4c97aef51f72fd36875d1d6a`
BLAKE2b-256 checksum How to use checksums	`1e312145147e51499221ccac7d8ba7b7c53abcd30fdd729ff7f23df4f05a63ba`
Upload date	Oct 29, 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-1.0.20231029-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`95c57d2390802c586e948dfa37e9a631bed31fa8f9b5551e32f731d758bd1451`
BLAKE2b-256 checksum How to use checksums	`48c95c7d0ffe916fc1dfaf2bd6bc1aaf5d12586d4b316edad07d093396140c2d`
Upload date	Oct 29, 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-1.0.20231029-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`5f829533d374ceb56082bbe9405ec48e4ea63beb4d80d633e98f9f9c4dfdfbbe`
BLAKE2b-256 checksum How to use checksums	`eb479dd0dec46c4c264130093518af30c3e6d3e8581789914c1aee4f2cb80430`
Upload date	Oct 29, 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-1.0.20231029-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`00d97921c838633d50f0a1ffb0f7507b9c217213e58f3d3218370dbc36e244d8`
BLAKE2b-256 checksum How to use checksums	`282a610eac96ec71e8b7674333021c47782b80ba7a93888e7b4a966a772b7a50`
Upload date	Oct 29, 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-1.0.20231029-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`a6264226f7456e79409671af0f235f19c70f56586f04d9548489b0c8095d22d9`
BLAKE2b-256 checksum How to use checksums	`17e3808425819c456dd5c51e2623ed5bf84f1effab16c781b896cf49dded34ec`
Upload date	Oct 29, 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-1.0.20231029-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231029-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	`bfb65b19f4440aad19cc8d940a8259921db5d72ca00200fdbbc3074bf9a2adc8`
BLAKE2b-256 checksum How to use checksums	`09e6235ec2a85c0a772a61d460426f9f03c01968f75336e8db4231cf34735aca`
Upload date	Oct 29, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`