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 1.0.20231105

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 1.0.20231105
File	Size	Uploaded
unitree_legged_sdk-1.0.20231105.tar.gz	4.5 kB	Nov 5, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 1.0.20231105
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-1.0.20231105-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Nov 5, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl 149.3 kB Nov 5, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ ARM64	Details
unitree_legged_sdk-1.0.20231105-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Nov 5, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Nov 5, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Nov 5, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Nov 5, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Nov 5, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp311-cp311-musllinux_1_1_x86_64.whl 693.4 kB Nov 5, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Nov 5, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Nov 5, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.5 kB Nov 5, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Nov 5, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.9 kB Nov 5, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp38-cp38-musllinux_1_1_x86_64.whl 692.2 kB Nov 5, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Nov 5, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Nov 5, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Nov 5, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Nov 5, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-1.0.20231105-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Nov 5, 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-1.0.20231105.tar.gz

Download URL	unitree_legged_sdk-1.0.20231105.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`392d5f4c0870cd555b0dcd692122a0e04b3b6f9b65bea50b14272f2fe490489e`
BLAKE2b-256 checksum How to use checksums	`2a9f82ba7e10069ccf0d449e1dfc9715c8df938406609864ab42aa5aca713b46`
Upload date	Nov 5, 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-1.0.20231105-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`3d6043fcc1469ab00b418d29802813cea5fc70ccedefae34756a60b865b0e39a`
BLAKE2b-256 checksum How to use checksums	`1148fe15099fc14d0c30de7318ee38e8c72459f272ef238e2e68651850ea90e8`
Upload date	Nov 5, 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-1.0.20231105-pp310-pypy310_pp73-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`716e8b3721b2efd63cc99f9ba8495448d8c1055ed15e3ba24f5126ab66919283`
BLAKE2b-256 checksum How to use checksums	`fe0ff597c46cfaa11a1e80c719f232d85b94807cace15ad836c220e3edf11495`
Upload date	Nov 5, 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-1.0.20231105-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`2fdd7e1863e2cb3815ecffd7c1ff1012c046d24f153cc4391bdb11fdb91e6467`
BLAKE2b-256 checksum How to use checksums	`80596fb2f689db6cf954d350ace3c6ff0ac51e5ce591a7d71fb4b1c4ebb9e6dd`
Upload date	Nov 5, 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-1.0.20231105-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`371771563e1a1c75f76a25c0c166e32dd7034e16c0a4c3b833937f2f97da215d`
BLAKE2b-256 checksum How to use checksums	`b7122d265309c55a1d937d2ab69624e063374ac409cf4f66b36eff5c84106df2`
Upload date	Nov 5, 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-1.0.20231105-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`1e3603d52eea3e81d761f587c5bc76b93c6e8a684de0927060a9673bc0f3aeb4`
BLAKE2b-256 checksum How to use checksums	`f4bcc6ac634486a0447460c92f7647c1e8622519719530ad942742087179ffb8`
Upload date	Nov 5, 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-1.0.20231105-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`fbedc6bb283c4c56f51c5a317fa0c8e3897f84334fa4107d0d215313a1f25df5`
BLAKE2b-256 checksum How to use checksums	`76ad39970ddcfce85b16c961cc4524e8eac34847b9de937e7d0f0abbf9c59149`
Upload date	Nov 5, 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-1.0.20231105-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`8e3209d9e770f190a9ce5ab1e8448e32cc01537dd7359f53756ab71ecfa779a6`
BLAKE2b-256 checksum How to use checksums	`018684fda34e684855923a3e625ff1ff964f1e3c7371d16af22c989ac1094273`
Upload date	Nov 5, 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-1.0.20231105-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`355edc8358d85c3e1105abcc2b2120f033e2f7d9f18297d9a962e73c4c6f5c9a`
BLAKE2b-256 checksum How to use checksums	`6113b21a13557400638282b69fc478828e7432201f316ae4a3a154d1f5fd3301`
Upload date	Nov 5, 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-1.0.20231105-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`294134483fd95380fc11a4d2e7f7afafda96d0630930d13a142431e69b1cb077`
BLAKE2b-256 checksum How to use checksums	`59eb59049609139708ea2a19d141f7787ecc4a679d9fea92fa1f200870a1c288`
Upload date	Nov 5, 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-1.0.20231105-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`6647fda3351873753e11747c7861376f46e39fdefa4d1557479522ac289df14e`
BLAKE2b-256 checksum How to use checksums	`3b1936f8b2506ded476f1af2b95589b8b7453e01d8db2cbdaabbee779fcd341c`
Upload date	Nov 5, 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-1.0.20231105-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`78a703f233c796e0de3646c39c05ccd0f54dd4d7e090d706b6596a9355359eb3`
BLAKE2b-256 checksum How to use checksums	`58e73e0633d9ade11044a2c6cb7fb07a865486a8a7e10832c8a966d80b00cc09`
Upload date	Nov 5, 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-1.0.20231105-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`faaee442b225e08c3068eb359b11882172e968b69a2802d41810288797b6e35b`
BLAKE2b-256 checksum How to use checksums	`25ddb8f5de264745d3389133e983452330f992b568564c96d83a236a0b342365`
Upload date	Nov 5, 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-1.0.20231105-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`370805b3b179cd48b8f13137223c0ce2e80885558321bb819d03388b0d9926ee`
BLAKE2b-256 checksum How to use checksums	`48d6eb30477107cba56770489e489acd775807631c8c9f1efdbe9e64c8128ee5`
Upload date	Nov 5, 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-1.0.20231105-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-cp38-cp38-musllinux_1_1_x86_64.whl
Size	692.2 kB
Tags	CPython 3.8 Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`d616e1c321b647d8caaca8be0685c2d05280993bb6ece9296f9099ea9c932d04`
BLAKE2b-256 checksum How to use checksums	`5bd5b967730769efdd9757458b5ec965970c9c557d54ff306684b8343c546473`
Upload date	Nov 5, 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-1.0.20231105-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`726b11dea7bf65561c842b3b996ade772741f3a0385024da38f4680d7d1dccf0`
BLAKE2b-256 checksum How to use checksums	`020fcdad4bcb34a08cf13f8569169cead788ff070d69d424286a422e26f1c605`
Upload date	Nov 5, 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-1.0.20231105-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`fbfb6d80329b8a87112f660576c935d2f4c47c417248a84bbb91b150b76878ba`
BLAKE2b-256 checksum How to use checksums	`3eb3baec9f8ec70cae3fb1c9df47c59b12cd68253b5dbcc66821d0e3def80455`
Upload date	Nov 5, 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-1.0.20231105-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`2f89ce4bdec5f3970ca86f698b3e327ab7fae8da1a027865521761f7f581e625`
BLAKE2b-256 checksum How to use checksums	`9029c1427b1fe20fced134671a4362ccd262bd016de49bf96c8c5b1274ddbc9b`
Upload date	Nov 5, 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-1.0.20231105-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`2ff3840534be52c3f36ab8de6199fbce5d0ae15d7b1e19e2d170606679a7e3ed`
BLAKE2b-256 checksum How to use checksums	`5c77a82cd5e61f739b3f074f44d218297f3741def9b547225356b2b8e3c4006c`
Upload date	Nov 5, 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-1.0.20231105-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-1.0.20231105-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	`d3795ac83d38691596731cf0bf4f3007cb7eadae7241db38f14d8f48a9092b89`
BLAKE2b-256 checksum How to use checksums	`17346ed9afdc1009b55e7c7b18e3fc7644b1f9fded9248a3a5d3960d73fe788c`
Upload date	Nov 5, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.6`