Unitree actuator SDK interface source

Project notes

The CMake build links a precompiled core

The README names GO-M8010-6, A1 and B1 motors and GCC minimums of 5.4 for x86 and 7.5 for Arm. The selected CMakeLists chooses architecture-specific libUnitreeMotorSDK shared objects and builds examples around them. A successful example build would therefore not establish that the central SDK implementation is available as source. No binary/core build or example was run. [1] [3]

Match the motor family, library architecture and serial interface before adapting an example. The cited example/example_a1_motor_output.cpp A1 output-side example opens /dev/ttyUSB0 and actively sends repeated commands. That device path is a source setting, not hardware discovered here; the example is not a passive health check. [4]

Keep the conversion convention visible

The README explains that command quantities are on the rotor side, while control calculations may be output-side, and describes gain conversion using the gear ratio. For gear ratio r, the selected A1 example sets rotor_kp = output_kp / r² / 26.07 and rotor_kd = output_kd / r² × 100. It converts output angle in degrees to rotor radians by multiplying by π/180 and r. These are the selected example's model-specific conventions. Do not treat a single generic gear-ratio formula as validation of every motor family or gains. Inspect the exact model/API version before applying commands. [1] [4]

The repository source notice is BSD-3-Clause. The linked core, firmware, purchased motor and external dependencies need their own rights review. No serial transfer, returned state, limit protection, position accuracy, thermal behavior or physical motion was validated. [2]