README.md•4.73 kB
# Unitree Go2 MCP Server
<center><img src="https://github.com/lpigeon/unitree-go2-mcp-server/blob/main/img/thumbnail.png" width="800"/></center>
The **Unitree Go2 MCP Server** is a server built on the Model Context Protocol (MCP) that enables users to control the Unitree Go2 robot using natural language commands interpreted by a Large Language Model (LLM). These commands are translated into ROS2 instructions, allowing the robot to perform corresponding actions.
<a href="https://glama.ai/mcp/servers/@lpigeon/unitree-go2-mcp-server">
<img width="380" height="200" src="https://glama.ai/mcp/servers/@lpigeon/unitree-go2-mcp-server/badge" alt="Unitree Go2 Server MCP server" />
</a>
## Requirements
- **Unitree Go2 robot**
- **Ubuntu 20.04 or 22.04**
- **ROS2 environment** : [Humble](https://docs.ros.org/en/humble/Installation.html)(recommended) or [Foxy](https://docs.ros.org/en/foxy/Installation.html)
## MCP Functions
You can find the list of functions in the [MCPFUNCTIONS.md](MCPFUNCTIONS.md).
## Installation
### 1. Setup `unitree_ros2` environment
https://github.com/unitreerobotics/unitree_ros2
- **You need to complete the setup up to `Step 2: Connect and test` in the repository linked above.**
### 2. Clone this repository
```bash
git clone https://github.com/lpigeon/unitree-go2-mcp-server.git
cd unitree-go2-mcp-server
```
### 3. `uv` Installation
- To install `uv`, you can use the following command:
```bash
curl -LsSf https://astral.sh/uv/install.sh | sh
```
or
```bash
pip install uv
```
- Create virtual environment and activate it (Optional)
```bash
uv venv
source .venv/bin/activate
```
### 4. MCP Server Configuration
Set MCP setting to mcp.json.
**Please keep in mind that the configuration must be done on the PC connected to the Go2.**
```bash
{
"mcpServers": {
"unitree-go2-mcp-server": {
"command": "uv",
"args": [
"--directory",
"/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
"run",
"server.py"
]
}
}
}
```
If you use Claude Desktop, you can find mcp.json using the following command:
- MacOS
```bash
code ~/Library/Application\ Support/Claude/claude_desktop_config.json
```
- Linux(Ubuntu)
You can install Claude Desktop to use [claude-desktop-debian](https://github.com/aaddrick/claude-desktop-debian).
```bash
code ~/.config/Claude/claude_desktop_config.json
```
- Windows
```bash
code $env:AppData\Claude\claude_desktop_config.json
```
## How To Use
### 1. Set `UNITREE_ROS2_SETUP_SH_PATH`.
- Open `server.py` and change your `UNITREE_ROS2_SETUP_SH_PATH` (eg. `/home/lpigeon/unitree_ros2/setup.sh`)
#### If you use `rosbridge`, you need Set IP and Port to connect rosbridge (Optional).
- Open `server.py` and change your `LOCAL_IP`, `ROSBRIDGE_IP` and `ROSBRIDGE_PORT`. (`ROSBRIDGE_PORT`'s default value is `9090`)
### 2. Check the Go2 robot is connected to the network.
Type the following command in the terminal.
```bash
ros2 topic list
```
You should see the following topic:
```bash
/wirelesscontroller
```
**If you don't see the topic, check the connection between the Go2 robot and the network.**
### 3. Run any AI system that has imported `unitree-go2-mcp-server`.
### 4. Type "Make the Go2 robot move forward at a velocity of 0.5 m/s for 3 seconds.".
<center><img src="https://github.com/lpigeon/unitree-go2-mcp-server/blob/main/img/how_to_use_1.png" width="500"/></center>
### 5. Check the Go2 robot's movement.
<center><img src="https://github.com/lpigeon/unitree-go2-mcp-server/blob/main/img/how_to_use_2.gif" width="500"/></center>
### 6. Type what you want to do and Enjoy!
## Contextual Understanding
When you type a command like "It looks like the Go2 is getting tired," the LLM interprets this contextually — understanding that the robot might need a break or some form of stretching!
<center><img src="https://github.com/lpigeon/unitree-go2-mcp-server/blob/main/img/contextual_understanding.gif" width="800"/></center>
## Simple Task
This task is a comprehensive demo task showcasing the Unitree Go2 robot's obstacle avoidance, direction changing, and user interaction capabilities.
<center><img src="https://github.com/lpigeon/unitree-go2-mcp-server/blob/main/img/task_test.gif" width="800"/></center>
## Contributing
Contributions are welcome!
Whether you're fixing a typo, adding a new function, or suggesting improvements, your help is appreciated.
Please follow the [contributing guidelines](CONTRIBUTING.md) for more details on how to contribute to this project.