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CuteCar384

GO2 Sport MCP Server

by CuteCar384
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Python
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GO2 运动控制脚本与 MCP 服务

当前目录现在同时提供：

底层都通过 ROS2 向 /api/sport/request 发布 unitree_api/msg/Request 控制 GO2。

命令行用法

cd /home/huang/xxx_go2sport

python3 go2_motion_control.py forward --duration 2
python3 go2_motion_control.py backward --duration 2
python3 go2_motion_control.py left --duration 2
python3 go2_motion_control.py right --duration 2
python3 go2_motion_control.py stop
python3 go2_motion_control.py move --vx 0.2 --vy 0.0 --vyaw 0.3 --duration 3

Related MCP server: Unitree Go2 MCP Server

MCP 启动

stdio 模式：

cd /home/huang/xxx_go2sport
python3 server.py

或：

cd /home/huang/xxx_go2sport
./run_mcp_server.sh

HTTP 模式：

cd /home/huang/xxx_go2sport
python3 server.py --transport streamable-http --host 127.0.0.1 --port 8000

MCP 工具

  • go2_drive_direction

  • go2_move

  • go2_stand_up

  • go2_stop

  • go2_motion_defaults

MCP 配置

示例文件见 mcp_server.json。

如果你要把它放进 Claude Code / Cursor 的 MCP 配置，可直接用：

{
  "mcpServers": {
    "go2-sport-control": {
      "command": "python3",
      "args": [
        "/home/huang/xxx_go2sport/server.py"
      ],
      "env": {
        "PYTHONPATH": "/home/huang/xxx_go2sport",
        "GO2_REQUEST_TOPIC": "/api/sport/request",
        "GO2_DEFAULT_LINEAR_SPEED": "0.3",
        "GO2_DEFAULT_ANGULAR_SPEED": "0.8",
        "GO2_DEFAULT_DURATION": "2.0",
        "GO2_DEFAULT_RATE": "10.0",
        "GO2_STAND_UP_WAIT": "1.5"
      }
    }
  }
}

控制协议说明

  • MOVE 请求 api_id = 1008

  • STOP_MOVE 请求 api_id = 1003

  • STAND_UP 请求 api_id = 1004

  • MOVE 参数格式：{"x": vx, "y": vy, "z": vyaw}

go2_drive_direction 在未显式传 speed 时，前进/后退默认使用 0.3 m/s，左转/右转默认使用 0.8 rad/s。

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