Unitree Go2 MCP Server

import os import subprocess from typing import Any class WirelessController: """ Publishes WirelessController messages using ros2 topic pub via subprocess. Message fields: - float32 lx : left stick x axis (-1 ~ 1) -> robot move left and right - float32 ly : left stick y axis (-1 ~ 1) -> robot move forward and backward - float32 rx : right stick x axis (-1 ~ 1) -> robot rotate left and right - float32 ry : right stick y axis (-1 ~ 1) -> robot rotate up and down - uint16 keys : button state """ def __init__(self, topic: str = "/wirelesscontroller", msg_type: str = "unitree_go/msg/WirelessController", setup_sh_path: str = "your_path_to_setup.sh"): self.topic = topic self.msg_type = msg_type self.rate = 10 # Hz self.setup_sh_path = setup_sh_path def execute(self, command: str) -> tuple[bool, Any]: try: output = subprocess.check_output(command, shell=True, executable='/bin/bash').decode() return True, output except Exception as e: return False, str(e) def publish(self, lx: float, ly: float, rx: float, ry: float, keys: int, duration: float = 0) -> tuple[bool, Any]: if self.rate > 0 and duration > 0: t = int(self.rate * duration) rate_opt = f"-r {self.rate} --times {t}" else: rate_opt = "-1" command = ( f"source {self.setup_sh_path} && " f"ros2 topic pub {self.topic} {self.msg_type} " f"'{{lx: {lx}, ly: {ly}, rx: {rx}, ry: {ry}, keys: {keys}}}' {rate_opt}" ) return self.execute(command) def _customised_movements(self, keys: int, rate: int = None, times: int = 5) -> tuple[bool, Any]: rate = rate if rate is not None else self.rate rate_opt = f"-r {rate} --times {times}" command = ( f"source {self.setup_sh_path} && " f"ros2 topic pub {self.topic} {self.msg_type} " f"'{{lx: 0.0, ly: 0.0, rx: 0.0, ry: 0.0, keys: {keys}}}' {rate_opt}" ) return self.execute(command) def stand_up_from_a_fall(self): return self._customised_movements(keys=1056) def stretch(self): self.stand_up_from_a_fall() return self._customised_movements(keys=272) def shake_hands(self): self.stand_up_from_a_fall() return self._customised_movements(keys=528) def love(self): self.stand_up_from_a_fall() return self._customised_movements(keys=2064) def pounce(self): self.stand_up_from_a_fall() return self._customised_movements(keys=1025) def jump_forward(self): self.stand_up_from_a_fall() return self._customised_movements(keys=257) def sit_down(self): self.stand_up_from_a_fall() return self._customised_movements(keys=513) def greet(self): self.stand_up_from_a_fall() return self._customised_movements(keys=258) def dance(self): self.stand_up_from_a_fall() return self._customised_movements(keys=514) def stop(self): return self._customised_movements(keys=0, times=3)