{"id":49146395,"url":"https://github.com/lakminagamage/unitree_d1_teleoperation","last_synced_at":"2026-04-22T04:04:31.504Z","repository":{"id":347366455,"uuid":"1193734204","full_name":"lakminagamage/unitree_d1_teleoperation","owner":"lakminagamage","description":"Unitree D1 Robot Arm Teleoperation via keyboard","archived":false,"fork":false,"pushed_at":"2026-03-27T16:06:11.000Z","size":17692,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"master","last_synced_at":"2026-03-28T01:17:23.948Z","etag":null,"topics":["cpp","d1-arm","d1-robot-arm","go2-arm","robot-arm","teleoperation","unitree","unitree-go2"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/lakminagamage.png","metadata":{"files":{"readme":"README.MD","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-03-27T14:25:11.000Z","updated_at":"2026-03-27T16:06:15.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/lakminagamage/unitree_d1_teleoperation","commit_stats":null,"previous_names":["lakminagamage/unitree_d1_teleoperation"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/lakminagamage/unitree_d1_teleoperation","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/lakminagamage%2Funitree_d1_teleoperation","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/lakminagamage%2Funitree_d1_teleoperation/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/lakminagamage%2Funitree_d1_teleoperation/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/lakminagamage%2Funitree_d1_teleoperation/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/lakminagamage","download_url":"https://codeload.github.com/lakminagamage/unitree_d1_teleoperation/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/lakminagamage%2Funitree_d1_teleoperation/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":32120408,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-22T00:31:26.853Z","status":"online","status_checked_at":"2026-04-22T02:00:05.693Z","response_time":58,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["cpp","d1-arm","d1-robot-arm","go2-arm","robot-arm","teleoperation","unitree","unitree-go2"],"created_at":"2026-04-22T04:04:16.001Z","updated_at":"2026-04-22T04:04:31.495Z","avatar_url":"https://github.com/lakminagamage.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# D1 Arm Development Setup\n\nTested on Ubuntu 20.04. The D1 arm communicates over Ethernet using DDS (Data Distribution Service) via the `unitree_sdk2` library.\n\n---\n\n## Requirements\n\n- Ubuntu 20.04\n- cmake \u003e= 3.5\n- g++ with C++17 support\n- libncurses5-dev\n- unitree_sdk2 (installed system-wide)\n\n```bash\nsudo apt install cmake build-essential libncurses5-dev\n```\n\n---\n\n## Install unitree_sdk2\n\nFollow the official Unitree SDK2 installation guide to install `unitree_sdk2` to `/usr/local` before proceeding.\n\nVerify installation:\n\n```bash\nls /usr/local/include/ddscxx\nls /usr/local/include/iceoryx\n```\n\n---\n\n## Network Setup\n\nConnect the D1 arm via Ethernet. The arm's default IP is `192.168.123.100`.\n\nSet your machine's Ethernet interface to a static IP in the same subnet, e.g. `192.168.123.12/24`.\n\nFind your Ethernet interface name:\n\n```bash\nip addr\n```\n\nLook for the interface with `192.168.123.x` — it will look something like `enx00e04c680099` or `eth0`.\n\nVerify connectivity:\n\n```bash\nping 192.168.123.100\n```\n\n---\n\n## Build\n\n```bash\ncd d1_sdk\nmkdir build \u0026\u0026 cd build\ncmake .. \u0026\u0026 make\n```\n\nThis builds all example programs and the joint controller into the `build/` directory.\n\n---\n\n## Programs\n\n| Binary | Description |\n|---|---|\n| `arm_zero_control` | Return arm to zero position |\n| `joint_angle_control` | Move a single joint to a fixed angle |\n| `multiple_joint_angle_control` | Move all joints simultaneously |\n| `joint_enable_control` | Enable or disable all motors |\n| `get_arm_joint_angle` | Read and print current joint angles |\n| `d1_joint_controller` | Interactive TUI to control joints with sliders |\n\nAll programs require the network interface to be passed in `Init()`. If you need to change the interface, update the `ChannelFactory::Instance()-\u003eInit(0, \"your_interface\")` line in the relevant source file and rebuild.\n\n---\n\n## Running the Joint Controller\n\n```bash\ncd d1_sdk/build\n./d1_joint_controller\n```\n\n| Key | Action |\n|---|---|\n| Up / Down | Select joint |\n| Left / Right | Adjust angle by 1 degree |\n| [ / ] | Adjust angle by 10 degrees |\n| Space | Send all joints at once |\n| e | Enable all motors |\n| d | Disable (release) all motors |\n| z | Return to zero position |\n| q | Quit |\n\nAlways press `e` to enable motors before sending joint commands.\n\n---\n\n## Joint Limits\n\n| Joint | Range |\n|---|---|\n| J0 - Base Rotation | -135 to +135 deg |\n| J1 - Shoulder | -90 to +90 deg |\n| J2 - Elbow | -90 to +90 deg |\n| J3 - Forearm Roll | -135 to +135 deg |\n| J4 - Wrist Pitch | -90 to +90 deg |\n| J5 - Wrist Roll | -135 to +135 deg |\n| J6 - Claw | 0 to 65 mm |\n\n---\n\n## Firmware Upgrade (IAP)\n\nConnect arm via Ethernet, then open a browser and go to:\n\n```\nhttp://192.168.123.100:8080\n```\n\nUpload the firmware package provided by Unitree.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flakminagamage%2Funitree_d1_teleoperation","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Flakminagamage%2Funitree_d1_teleoperation","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Flakminagamage%2Funitree_d1_teleoperation/lists"}