Unofficial Python SDK for Unitree Go2

This is an unofficial Python SDK designed to interface with the Unitree Go2 robots, supporting various models including AIR, PRO, and EDU. It provides a high-level API for interacting with the robots using CycloneDDS middleware or WebRTC, ensuring broad compatibility and easy integration. Note that WebRTC is not yet implemented.

CycloneDDS Driver(Implemented)

CycloneDDS is an open-source implementation of the Data Distribution Service (DDS) standard, which is a middleware protocol used by Unitree Go2.

CycloneDDS works out of the box only with the EDU version.
For use with AIR/PRO models, a custom firmware upgrade is required. Please visit theroboverse.com and our Discord group for more details.

WebRTC Driver (Not yet implemented)

WebRTC (Web Real-Time Communication) is an open-source project and technology that enables real-time communication of audio, video, and data directly within web browsers and mobile applications. Internally, the robot includes a webrtc_bridge that converts WebRTC to DDS. The Unitree Go2 app uses WebRTC as a transport layer.

Works with AIR, PRO, and EDU models out of the box, but is limited to topics when publishing/subscribing. For example, low-level commands would not work fully as rt/lowcmd is not supported. Reading is only supported through rt/lf/lowstate (lf for low frequency).

Features

Multiple Client Support: Includes sport_client, basic_client, vui_client, robotstate_client, and lidar_client to cover a wide range of functionalities.
Compatibility: Works with AIR, PRO, and EDU models, ensuring a broad usage scope.
Flexible Communication: Supports cycloneDDS middleware and Webrtc for communication, providing options based on your project needs.

Roadmap

sport_client - Control and manage robot movements.
motion_swither_client - Support for switching between normal and advanced sport modes
basic_client - Support for lowlevel commands.
vui_client - Voice control interfaces.
robotstate_client - Stop/launch robot services .
audio_client - Audio interfaces.
photo_client - Photo interfaces.
lidar_client - Interface with the robot's LiDAR system for mapping and navigation.

Installation

Follow these step-by-step instructions to install the SDK:

git clone https://github.com/legion1581/go2_python_sdk.git
cd go2_python_sdk
pip install -r requirements.txt

Thanks

To TheRoboVerse community! Visit us at theroboverse.com for more information and support.