El servidor MCP de Unitree Go2 es un servidor basado en el Protocolo de Contexto de Modelo (MCP) que permite a los usuarios controlar el robot Unitree Go2 mediante comandos de lenguaje natural interpretados por un Modelo de Lenguaje Grande (LLM). Estos comandos se traducen en instrucciones ROS2, lo que permite al robot realizar las acciones correspondientes.
Related MCP server: nUR MCP Server
Puede encontrar la lista de funciones en MCPFUNCTIONS.md .
unitree_ros2https://github.com/unitreerobotics/unitree\_ros2
Debe completar la configuración hasta Step 2: Connect and test en el repositorio vinculado anteriormente.
git clone https://github.com/lpigeon/unitree-go2-mcp-server.git
cd unitree-go2-mcp-serveruvPara instalar uv , puedes utilizar el siguiente comando:
curl -LsSf https://astral.sh/uv/install.sh | sho
pip install uvCrear entorno virtual y activarlo (Opcional)
uv venv
source .venv/bin/activateEstablezca la configuración de MCP en mcp.json.
Tenga en cuenta que la configuración debe realizarse en el PC conectado al Go2.
{
"mcpServers": {
"unitree-go2-mcp-server": {
"command": "uv",
"args": [
"--directory",
"/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
"run",
"server.py"
]
}
}
}Si usa Claude Desktop, puede encontrar mcp.json usando el siguiente comando:
Sistema operativo Mac
code ~/Library/Application\ Support/Claude/claude_desktop_config.jsonLinux (Ubuntu)
Puedes instalar Claude Desktop para utilizar claude-desktop-debian .
code ~/.config/Claude/claude_desktop_config.jsonVentanas
code $env:AppData\Claude\claude_desktop_config.jsonUNITREE_ROS2_SETUP_SH_PATH .Abra server.py y cambie su UNITREE_ROS2_SETUP_SH_PATH (por ejemplo, /home/lpigeon/unitree_ros2/setup.sh )
rosbridge , necesita configurar IP y puerto para conectarse a rosbridge (opcional).Abra server.py y cambie LOCAL_IP , ROSBRIDGE_IP y ROSBRIDGE_PORT . (El valor predeterminado de ROSBRIDGE_PORT es 9090 ).
Escriba el siguiente comando en la terminal.
ros2 topic listDeberías ver el siguiente tema:
/wirelesscontrollerSi no ve el tema, verifique la conexión entre el robot Go2 y la red.
unitree-go2-mcp-server .Cuando escribes un comando como "Parece que el Go2 se está cansando", el LLM lo interpreta contextualmente, entendiendo que el robot podría necesitar un descanso o algún tipo de estiramiento.
Esta tarea es una tarea de demostración integral que muestra las capacidades de evitación de obstáculos, cambio de dirección e interacción del usuario del robot Unitree Go2.
¡Las contribuciones son bienvenidas!
Ya sea que esté corrigiendo un error tipográfico, agregando una nueva función o sugiriendo mejoras, su ayuda es apreciada.
Siga las pautas de contribución para obtener más detalles sobre cómo contribuir a este proyecto.
| 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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