agoeckner / unitree_legged_sdk

SDK tools for control robots.

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 ..

If can not find pybind11 headers, then add

include_directories(${CMAKE_CURRENT_SOURCE_DIR}/third-party/pybind11/include)

at line 14 in python_wrapper/CMakeLists.txt.

If can not find msgpack.hpp, then

sudo apt install libmsgpack*

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')