Unitree Go2 and G1 WebRTC Driver

This repository contains a Python implementation of the WebRTC driver to connect to the Unitree Go2 and G1 Robots. WebRTC is used by the Unitree Go/Unitree Explore APP and provides high-level control through it. Therefore, no jailbreak or firmware manipulation is required. It works out of the box for Go2 AIR/PRO/EDU models and G1 AIR/EDU.

Currently Supported Firmware Versions

Go2:

• 1.1.x series: 1.1.1 – 1.1.8 (latest available)
• 1.0.x series: 1.0.19 – 1.0.25

G1:

• 1.4.0 (latest available)

Audio and Video Support (Go2 only)

There are video (recvonly) and audio (sendrecv) channels in WebRTC that you can connect to. Check out the examples in the /example folder.

Lidar support (Go2 only)

There is a lidar decoder built in, so you can handle decoded PoinClouds directly. Check out the examples in the /example folder.

Connection Methods

The driver supports three types of connection methods:

1. AP Mode: Go2/G1 is in AP mode, and the WebRTC client is connected directly to it:

   UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalAP)

2. STA-L Mode: Go2/G1 and the WebRTC client are on the same local network. An IP or Serial number is required:

   UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalSTA, ip="192.168.8.181")

   If the IP is unknown, you can specify only the serial number, and the driver will try to find the IP using the special Multicast discovery feature available on Go2:

   UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalSTA, serialNumber="B42D2000XXXXXXXX")

3. STA-T mode: Remote connection through remote Unitrees TURN server. Could control your Go2/G1 even being on the diffrent network. Requires username and pass from Unitree account

   UnitreeWebRTCConnection(WebRTCConnectionMethod.Remote, serialNumber="B42D2000XXXXXXXX", username="[email protected]", password="pass")

Multicast scanner (Go2 only)

The driver has a built-in Multicast scanner to find the Unitree Go2 on the local network and connect using only the serial number.

Installation

cd ~
sudo apt update
sudo apt install python3-pip
sudo apt install portaudio19-dev
git clone https://github.com/legion1581/go2_webrtc_connect.git
cd go2_webrtc_connect
pip install -e .

Usage

Example programs are located in the /example directory.

Thanks

A big thank you to TheRoboVerse community! Visit us at TheRoboVerse for more information and support.

Special thanks to the tfoldi WebRTC project and abizovnuralem for adding LiDAR support, MrRobotow for providing a plot LiDAR example. Special thanks to Nico for the aiortc monkey patch.

Support

If you like this project, please consider buying me a coffee: