Der Unitree Go2 MCP-Server basiert auf dem Model Context Protocol (MCP) und ermöglicht die Steuerung des Unitree Go2-Roboters mithilfe von natürlichsprachlichen Befehlen, die von einem Large Language Model (LLM) interpretiert werden. Diese Befehle werden in ROS2-Anweisungen übersetzt, sodass der Roboter entsprechende Aktionen ausführen kann.
Related MCP server: nUR MCP Server
Die Liste der Funktionen finden Sie in MCPFUNCTIONS.md .
unitree_ros2 Umgebung einhttps://github.com/unitreerobotics/unitree_ros2
Sie müssen die Einrichtung bis Step 2: Connect and test .
git clone https://github.com/lpigeon/unitree-go2-mcp-server.git
cd unitree-go2-mcp-serveruv -InstallationUm uv zu installieren, können Sie den folgenden Befehl verwenden:
curl -LsSf https://astral.sh/uv/install.sh | shoder
pip install uvVirtuelle Umgebung erstellen und aktivieren (optional)
uv venv
source .venv/bin/activateSetzen Sie die MCP-Einstellung auf mcp.json.
Bitte beachten Sie, dass die Konfiguration auf dem mit dem Go2 verbundenen PC erfolgen muss.
{
"mcpServers": {
"unitree-go2-mcp-server": {
"command": "uv",
"args": [
"--directory",
"/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
"run",
"server.py"
]
}
}
}Wenn Sie Claude Desktop verwenden, können Sie mcp.json mit dem folgenden Befehl finden:
macOS
code ~/Library/Application\ Support/Claude/claude_desktop_config.jsonLinux (Ubuntu)
Sie können Claude Desktop installieren, um claude-desktop-debian zu verwenden.
code ~/.config/Claude/claude_desktop_config.jsonWindows
code $env:AppData\Claude\claude_desktop_config.jsonUNITREE_ROS2_SETUP_SH_PATH fest.Öffnen Sie server.py und ändern Sie Ihren UNITREE_ROS2_SETUP_SH_PATH (zB. /home/lpigeon/unitree_ros2/setup.sh )
rosbridge verwenden, müssen Sie IP und Port festlegen, um eine Verbindung zu Rosbridge herzustellen (optional).Öffnen Sie server.py und ändern Sie Ihre LOCAL_IP , ROSBRIDGE_IP und ROSBRIDGE_PORT . (Der Standardwert von ROSBRIDGE_PORT ist 9090 )
Geben Sie den folgenden Befehl in das Terminal ein.
ros2 topic listSie sollten das folgende Thema sehen:
/wirelesscontrollerWenn Sie das Thema nicht sehen, überprüfen Sie die Verbindung zwischen dem Go2-Roboter und dem Netzwerk.
unitree-go2-mcp-server importiert hat.Wenn Sie einen Befehl wie „Es sieht so aus, als würde der Go2 müde werden“ eingeben, interpretiert das LLM dies kontextbezogen – und erkennt, dass der Roboter möglicherweise eine Pause oder eine Art Dehnungsübung braucht!
Bei dieser Aufgabe handelt es sich um eine umfassende Demoaufgabe, die die Fähigkeiten des Unitree Go2-Roboters zur Hindernisvermeidung, Richtungsänderung und Benutzerinteraktion demonstriert.
Beiträge sind willkommen!
Egal, ob Sie einen Tippfehler korrigieren, eine neue Funktion hinzufügen oder Verbesserungen vorschlagen, Ihre Hilfe ist willkommen.
Weitere Einzelheiten zur Mitwirkung an diesem Projekt finden Sie in den Beitragsrichtlinien .
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
| duration | No | ||
| keys | Yes | ||
| linear_x | Yes | ||
| linear_y | Yes | ||
| pitch | Yes | ||
| yaw | Yes |
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
| Name | Required | Description | Default |
|---|---|---|---|
No parameters | |||
Does the description disclose side effects, auth requirements, rate limits, or destructive behavior?
Tool has no description.
Agents need to know what a tool does to the world before calling it. Descriptions should go beyond structured annotations to explain consequences.
Is the description appropriately sized, front-loaded, and free of redundancy?
Tool has no description.
Shorter descriptions cost fewer tokens and are easier for agents to parse. Every sentence should earn its place.
Given the tool's complexity, does the description cover enough for an agent to succeed on first attempt?
Tool has no description.
Complex tools with many parameters or behaviors need more documentation. Simple tools need less. This dimension scales expectations accordingly.
Does the description clarify parameter syntax, constraints, interactions, or defaults beyond what the schema provides?
Tool has no description.
Input schemas describe structure but not intent. Descriptions should explain non-obvious parameter relationships and valid value ranges.
Does the description clearly state what the tool does and how it differs from similar tools?
Tool has no description.
Agents choose between tools based on descriptions. A clear purpose with a specific verb and resource helps agents select the right tool.
Does the description explain when to use this tool, when not to, or what alternatives exist?
Tool has no description.
Agents often have multiple tools that could apply. Explicit usage guidance like "use X instead of Y when Z" prevents misuse.
Recent tool additions, removals, and schema changes observed during successful MCP inspections.
v1.0.0danceget_topicsgreetjump_forwardlovepouncepub_wirelesscontrollershake_handssit_downstand_up_from_a_fallstopstretchScored across 12 tools
The tools have some distinct purposes like movement (jump_forward, pounce, sit_down) and social interactions (greet, shake_hands), but there is overlap and ambiguity. For example, 'dance', 'love', and 'stretch' are vague and could be confused with other expressive or movement actions, making it unclear when to use one over another.
Naming is inconsistent with mixed conventions: some use verb_noun (e.g., 'jump_forward', 'sit_down', 'stand_up_from_a_fall'), others are single verbs or nouns (e.g., 'dance', 'greet', 'love', 'stop'), and one uses an abbreviation ('pub_wirelesscontroller'). This lack of pattern makes the set harder to navigate and predict.
With 12 tools, the count is reasonable for a robot control server, covering various actions from basic movements to social behaviors. It's slightly on the higher side but still manageable, as each tool appears to serve a specific function in the domain of robot interaction and control.
The tool set covers expressive and movement actions for a robot, but there are notable gaps. For instance, it lacks core navigation tools (e.g., move, turn) and status queries (e.g., get_battery, get_pose), which are essential for comprehensive robot control. The surface is functional but incomplete for advanced agent workflows.
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