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!
News 🎉: Our Deployment Framework is released at RoboJuDo, try it out!
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.
We tested the performance of unitree_cpp with AMO on G1 pc2. The results are as follows:
| Implementation | Cost of control (μs/hit) |
|---|---|
unitree_sdk2_python |
3871.039 |
unitree_cpp |
40.045 |
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.
# switch to your python env
# tested on python>=3.8
pip install .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_ifinexample/config.py - run the example
- your robot should move slowly into default position
This project supports:
- Unitree G1
- Dex-3 hand
- Odometry service
1.0.2
- Fix: shutdown as damping mode
1.0.3 [IMPORTANT FIX]
- Fix control delay, send command immediately after step.
- this bug could lead to jittering and stability issue, see HansZ8/RoboJuDo#2
CC-BY-4.0
