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

python wrapper of unitree_legged_sdk with pybind11, only support python3.x now.

More you can see python_wrapper

Metadata

Release files for unitree-legged-sdk 3.8.20230904

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 3.8.20230904
File	Size	Uploaded
unitree_legged_sdk-3.8.20230904.tar.gz	4.5 kB	Sep 4, 2023	Details

Built distributions (wheels)

Table of built distributions (wheels) for unitree-legged-sdk 3.8.20230904
File	Interpreter	ABI	Platform	Reset
unitree_legged_sdk-3.8.20230904-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 4, 2023	PyPy 3.10	PyPy 3.10 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 4, 2023	PyPy 3.9	PyPy 3.9 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.7 kB Sep 4, 2023	PyPy 3.8	PyPy 3.8 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.3 kB Sep 4, 2023	PyPy 3.7	PyPy 3.7 7.3	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp312-cp312-musllinux_1_1_x86_64.whl 691.5 kB Sep 4, 2023	CPython 3.12	CPython 3.12	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.2 kB Sep 4, 2023	CPython 3.12	CPython 3.12	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp311-cp311-musllinux_1_1_x86_64.whl 693.5 kB Sep 4, 2023	CPython 3.11	CPython 3.11	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.5 kB Sep 4, 2023	CPython 3.11	CPython 3.11	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp310-cp310-musllinux_1_1_x86_64.whl 692.2 kB Sep 4, 2023	CPython 3.10	CPython 3.10	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.6 kB Sep 4, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl 150.7 kB Sep 4, 2023	CPython 3.10	CPython 3.10	Linux glibc 2.17+ ARM64	Details
unitree_legged_sdk-3.8.20230904-cp39-cp39-musllinux_1_1_x86_64.whl 692.3 kB Sep 4, 2023	CPython 3.9	CPython 3.9	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 170.0 kB Sep 4, 2023	CPython 3.9	CPython 3.9	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp38-cp38-musllinux_1_1_x86_64.whl 692.3 kB Sep 4, 2023	CPython 3.8	CPython 3.8	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 169.4 kB Sep 4, 2023	CPython 3.8	CPython 3.8	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp37-cp37m-musllinux_1_1_x86_64.whl 697.0 kB Sep 4, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.3 kB Sep 4, 2023	CPython 3.7	CPython 3.7 pymalloc	Linux glibc 2.17+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp36-cp36m-musllinux_1_1_x86_64.whl 696.9 kB Sep 4, 2023	CPython 3.6	CPython 3.6 pymalloc	Linux musl 1.1+ x86-64	Details
unitree_legged_sdk-3.8.20230904-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl 173.2 kB Sep 4, 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-3.8.20230904.tar.gz

Download URL	unitree_legged_sdk-3.8.20230904.tar.gz
Size	4.5 kB
Tags	Source
SHA-256 checksum How to use checksums	`f48b2fd6543c444d7866a7b3fddb6bc3461742f054c1e29a6703447b1bd2067d`
BLAKE2b-256 checksum How to use checksums	`36231618b5d6da08b968cea52f536fc266e8eaa18a892d15864f3153c2deaa95`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-pp310-pypy310_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`90135e18a4064d02428c95ff4627232d0f9db9cf8aa90b5163dfa278089b56ee`
BLAKE2b-256 checksum How to use checksums	`356ed79e65657923b2b75fdc9d498e5bd525cfe092c5ce35d31f1cbbc58119e2`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`ac8aa103fb899ca0e58de9d9161ff1280655a3bbb851732692a3626a0888c0ec`
BLAKE2b-256 checksum How to use checksums	`b938078c37a74fa752687252c0c4292a80621047b4008053c961ff2e59731720`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`84518f7a6c43b31c1909ce59d21035905d9feebc2943665666b45d36e27e1d01`
BLAKE2b-256 checksum How to use checksums	`933e4bd333e7e6f2764d66a4447574d43b633515ae21612ba01dd3b53d7d4003`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-pp37-pypy37_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.3 kB
Tags	Linux glibc 2.17+ x86-64 PyPy 3.7 PyPy 3.7 7.3
SHA-256 checksum How to use checksums	`9907a609f29e0989be1b6d9bd75cb28dea573822d00f109b46b5f7089097bfe5`
BLAKE2b-256 checksum How to use checksums	`277fac243432341a46681073e67c3570b1a9a81952f9a385038ddd677296e21d`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp312-cp312-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`5cf2b3e927f3e9842d6b734454a165f6f548bbacba57beec37240daff8b0c27b`
BLAKE2b-256 checksum How to use checksums	`c4c9c57db41dc4f32fd4543cc5d6dd9db90a8b482c3d23dc030b6cf5d7784b74`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`bd8c79eab4a1be136571606bd0edb635587700828cfcf60aff35ebaf553d048a`
BLAKE2b-256 checksum How to use checksums	`7ece4b184a6e9b06ba59e8d256583a995c60a0595cd2e60140eb85bec474a972`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp311-cp311-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-cp311-cp311-musllinux_1_1_x86_64.whl
Size	693.5 kB
Tags	CPython 3.11 Linux musl 1.1+ x86-64
SHA-256 checksum How to use checksums	`d78ff0b8f33f03a2d10aeb42fc25355ec9000f2d70670969e72a30aab1988ed5`
BLAKE2b-256 checksum How to use checksums	`80505bfb21fb2a6997f4558bea84b099bdba713cf323c8f8d6a6c34ac5f44470`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`77e82b79c10747720d69aa30f354885a8a856cf84af035f286f701de0912be7f`
BLAKE2b-256 checksum How to use checksums	`290c3b22678923916d03875450acdd1fe30060224e2b2f7be52244d5a0a7e840`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp310-cp310-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`055a7eb313d1c3b78d1ee98975332911711c630aaee9345a496c995ee0d62b47`
BLAKE2b-256 checksum How to use checksums	`2076ba44973481803d574b30979b93c58ae3d3763b313728feb200cb1f2d20fb`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	169.6 kB
Tags	CPython 3.10 Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`9dcbb1b070fa36b58a40a50f344d1d315c094d82428df81f16593d645aa9c21b`
BLAKE2b-256 checksum How to use checksums	`5e6b87b96e86328798c3d883680b341fa9678ce5f5bf6aa233445ad7c0a445f9`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl

Download URL	unitree_legged_sdk-3.8.20230904-cp310-cp310-manylinux_2_17_aarch64.manylinux2014_aarch64.whl
Size	150.7 kB
Tags	CPython 3.10 Linux glibc 2.17+ ARM64
SHA-256 checksum How to use checksums	`a607467b30e80c6dce8182a0e6fab467c6070ce01a434560edc8899aa7547ae5`
BLAKE2b-256 checksum How to use checksums	`f240ad699b1bd12a6683857a2ed1760b0a65c38085824e683d7030adfa137602`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp39-cp39-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`0c9c39668fa04bbcf7c97e7abd146029c32992f8a91a19f152adca6b7b6cae61`
BLAKE2b-256 checksum How to use checksums	`30f71f5cb98bca3434827a1525c331e92c4d155b9be29d93cb0b8a3b92521074`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Size	170.0 kB
Tags	CPython 3.9 Linux glibc 2.17+ x86-64
SHA-256 checksum How to use checksums	`8a0ecd4fb13969af71880fb3c37a8bf07f371bd563cc53ab54ae27276ce0c9e1`
BLAKE2b-256 checksum How to use checksums	`aebcbfe8a27b7d007a24c98d113dd958b85f0d85915327e87725f11e0755a630`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp38-cp38-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`3e377d1a2443d125748fe1c28ac901d4da03da09d8dd4a78a899fc3807d99121`
BLAKE2b-256 checksum How to use checksums	`d0aa9d36661a08e171acd4100f231bdfc3b91d09f9c351026b4e19857ba96d23`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`0ba2a759b31a0a753fb8af84964f76d320f09b6ea7e85242a24468111824d246`
BLAKE2b-256 checksum How to use checksums	`1eec3cdb5461504d32e96d4da44b551349a96deecd6a7a563382c484d8d258ce`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp37-cp37m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`a09eb1cd3890f839d97ed538b054da0cc30ad7dc603f721981e0774f06d4b048`
BLAKE2b-256 checksum How to use checksums	`77b7926d53e9c752610b71fb150e2936d15514c18c86e3b29b6c89770a22b8c0`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp37-cp37m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`9ab291de87735923564084d0d87f10df04212f6c7fc59fa89a6a0265ad9f756d`
BLAKE2b-256 checksum How to use checksums	`82f4772bcac98beaf22244b9c030066747c43d7b1a7d7c3b84ac4dcc0ca1cec8`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp36-cp36m-musllinux_1_1_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`45aa0bd93241a3c90cd63d112047e080e3a7b7333fa1f26c774e950be03f656a`
BLAKE2b-256 checksum How to use checksums	`dbfc0e7b2ca9fa949a6c8081c967f0e88b2e8ff08c31f56e24715bdea4bc8938`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`

Release files / unitree_legged_sdk-3.8.20230904-cp36-cp36m-manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Download URL	unitree_legged_sdk-3.8.20230904-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	`086fc18dde1842245588e51d38081794ce4a714eaf4cb4e170d161baf4805ed1`
BLAKE2b-256 checksum How to use checksums	`443cc1d914feccfacfcf803760a2ce5d829e7d772c2de3d2ac58ae842f0221f3`
Upload date	Sep 4, 2023
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/4.0.2 CPython/3.11.5`