🔧 Step 1: Download the Unitree SDK

GitHub Repository:

https://github.com/unitreerobotics/unitree_sdk2

git clone <https://github.com/unitreerobotics/unitree_sdk2.git>
cd unitree_sdk2
mkdir build
cd build
cmake ..
sudo make install

🔧 Step 2: Download the D1Arm SDK

Official SDK Zip (from Unitree server):

https://unitree-firmware.oss-cn-hangzhou.aliyuncs.com/tool/d1_sdk.zip

Unzip it and proceed to build:

unzip d1_sdk.zip
cd d1_sdk
mkdir build
cd build
cmake ..
make

Optional CMakeList Note:

You may need to add the following to your CMakeLists.txt if you face include issues:

include_directories(/usr/local/include/ddscxx /usr/local/include/iceoryx/v2.0.2 /usr/local/lib)

🧩 Step 3: Add Required Libraries to Path

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH  # May be optional

# Make sure the library path is visible to the linker
echo "/usr/local/lib" | sudo tee /etc/ld.so.conf.d/local-lib.conf
sudo ldconfig

# Check and adjust permissions if needed
ls /usr/local/lib/libddsc.so.0
sudo chmod +r /usr/local/lib/libddsc.so.0  # May be optional

🌐 Step 4: Configure Network Interface

Make sure your PC's IP address is in the 192.168.123.XXX subnet

(e.g., 192.168.123.99).

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