Howest Unitree Go2 SDK ✨

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This is Howest AI Lab's own custom SDK to control a Unitree Go2 robot dog. We noticed that many Python implementations of the WebRTC connection were deprecated or simply didn't work - at least on our robot. As it turns out, there is one stable JavaScript implementation by tfoldi. This repository offers the battle-tested stability of JavaScript's WebRTC APIs and developer-friendliness of Python.

Schematic

Project setup 🛠️

Prerequisites

You will need to have Python 3.10+ installed. You can download it from python.org.

You will also need to have Node.js installed. You can download it from nodejs.org.

Set up the Python environment:

python -m venv .venv

source .venv/bin/activate   # <-- Linux/MacOS
.venv\Scripts\activate      # <-- Windows

Installation

1. Install the required Python dependencies

   pip install -r requirements.txt

2. Install the required Node.js dependencies

   cd server/socket
   npm install

3. Run the signalling server

   cd server/signalling
   python main.py

4. Run the socket server

   cd server/signalling
   node server.js

5. You can now run the example script

   cd client
   python main.py

6. Or just use the SDK as shown below:

    import time
    from models import RobotMessage
    from robot import Robot
   
    def callback(msg: RobotMessage):
        print(f"Lidar data: {msg.data}")
   
    robot = Robot("192.168.1.10")
    time.sleep(5)
    robot.enable_monitor_lidar_data(callback)
    time.sleep(5)
    robot.move(x=1, y=0, z=0)
    time.sleep(5)
    robot.close()

Deployment 🚀

Coming soon.

Future improvements 💡

• Dockerize the server code
• Implement data fetching with response resolving
• Implement lidar decoding
• Add devcontainer template
• Create a FastAPI and/or FastMCP layer
• Add more documentation

Possible issues ❌

Coming soon.