Unitree Cpp

@GDDG80

A lightweight Python binding for Unitree SDK2, designed to overcome the performance issues of the official unitree_sdk2_python on the Unitree G1 (Jetson Orin).

FREE YOUR UNITREE G1 FROM THE ETHERNET CABLE!

Inspiration

On Unitree G1, unitree_sdk2_python often suffers from serious performance issues, making it difficult to achieve real-time deploy with built-in Jetson pc2.

Using unitree_sdk2 directly avoids these performance problems, but C++ development and compilation can be cumbersome and time-consuming.

This project provides the best of both worlds:

• Python interface for simplicity and quick prototyping
• C++ backend for high-frequency communication and efficiency

As a result, you can write simple control code in Python, without dealing with the C++ compilation, while still ensuring real-time performance.

Installation

1. Install Unitree SDK2

Follow the instructions on Unitree SDK2
to install the SDK2 on your system.

Note: It is recommended to use the default installation path.
If you choose a custom path, make sure to update CMakeLists.txt accordingly,
so that the required libraries can be found.

2. Install unitree_cpp Python Binding

# switch to your python env
# tested on python>=3.8
pip install .

Getting Started

Please refer to the example file: example/unitree_cpp_env.py.

Test the example with your robot:

• pip install -r example/requirements.txt
• change ethernet interface eth_if in example/config.py
• run the example
• your robot should move slowly into default position

This project supports:

• Unitree G1
• Dex-3 hand
• Odometry service

License

CC-BY-4.0