stretch
Enable the Unitree Go2 robot to stretch its limbs using natural language commands, translated into precise ROS2 instructions for movement and flexibility.
Input Schema
| Name | Required | Description | Default |
|---|---|---|---|
No arguments | |||
Input Schema (JSON Schema)
{
"properties": {},
"title": "stretchArguments",
"type": "object"
}
Implementation Reference
- server.py:64-68 (handler)MCP tool handler and registration for the 'stretch' tool. Calls the underlying wirelesscontroller.stretch() method and stops afterwards, returning the message.@mcp.tool() def stretch(): _, msg = wirelesscontroller.stretch() wirelesscontroller.stop() return msg
- msgs/wirelesscontroller.py:55-57 (helper)Helper method in WirelessController class that implements the stretch action by first standing up from a fall and then performing a custom movement with keys=272.def stretch(self): self.stand_up_from_a_fall() return self._customised_movements(keys=272)