Unitree Go2 Mcp Server

by lpigeon

85 stars

922 downloads

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About

The Unitree Go2 MCP Server is a server built on the MCP that enables users to control the Unitree Go2 robot using natural language commands interpreted by a LLM.

Details

Author: lpigeon
GitHub stars: 85
Downloads: 922
Categories: Other

Setting up with Highlight

This MCP is not yet compatible with Highlight’s one-click setup. However, you can still use it with Highlight by following these steps:

Download and install Highlight from highlightai.com/download
Navigate to the plugins tab and select "Add Custom Plugin"
Configure the plugin with the settings below

Plugin Name Unitree Go2 Mcp Server

Command (node, npx, python, etc.)

Please refer to the README for specific instructions on how to obtain API keys or other required environment variables.
Enable "Start Automatically" if you want the plugin to start when Highlight launches

Setting up with Cursor

Open Cursor's settings
Navigate to the MCP section
Click "Add new Global MCP server"
Copy and paste the configuration below based on your operating system

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

Setting up with Claude Desktop

Open Claude Desktop's settings
Go to the Integrations tab
Click "Add MCP Server"
Use the configuration below based on your operating system

Note: Make sure Claude Desktop is running before attempting to connect.

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

Setting up with Windsurf

Open Windsurf's preferences
Go to the Integrations section
Click "Add MCP Integration"
Use the configuration below based on your operating system

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

Setting up with Cline

Open Cline's settings
Navigate to the Integrations section
Click "Add MCP Server"
Copy and paste the configuration below based on your operating system

Note: Make sure to restart Cline after adding the configuration.

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

Setting up with Goose

Open Goose's preferences
Go to the Integrations tab
Select "MCP Servers"
Click "Add New Server"
Use the configuration below based on your operating system

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

JSON

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

From the repository

Install the server on a PC connected to the Go2 robot, configure the MCP settings (mcp.json), set the path to unitree_ros2/setup.sh, and optionally configure rosbridge IP and port. Ensure the robot is on the same network (check for /wirelesscontroller topic using ros2 topic list). Then run any AI system that has imported the server and type natural language commands.

Claude Desktop / Cursor

Paste into your MCP client config file to install this server.

{
    "mcpServers": {
        "unitree go2 mcp server": {
            "unitree-go2-mcp-server": {
                "command": "uv",
                "args": [
                    "--directory",
                    "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
                    "run",
                    "server.py"
                ]
            }
        }
    }
}

McpServers

{
    "unitree-go2-mcp-server": {
        "command": "uv",
        "args": [
            "--directory",
            "/ABSOLUTE/PATH/TO/PARENT/FOLDER/unitree-go2-mcp-server",
            "run",
            "server.py"
        ]
    }
}

Unitree Go2 MCP Server

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.

Requirements

- Unitree Go2 robot
- Ubuntu 20.04 or 22.04
- ROS2 environment : Humble(recommended) or Foxy

MCP Functions

You can find the list of functions in the 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

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:

curl -LsSf https://astral.sh/uv/install.sh | sh

pip install uv

- Create virtual environment and activate it (Optional)

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.

{
    "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

code ~/Library/Application\ Support/Claude/claude_desktop_config.json

- Linux(Ubuntu)

You can install Claude Desktop to use claude-desktop-debian.

code ~/.config/Claude/claude_desktop_config.json

- Windows

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.

ros2 topic list

You should see the following topic:

/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.".

5. Check the Go2 robot's movement.

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!

Simple Task

This task is a comprehensive demo task showcasing the Unitree Go2 robot's obstacle avoidance, direction changing, and user interaction capabilities.

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 for more details on how to contribute to this project.

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About

Details

Jump to

Setting up with Highlight

From the repository

Claude Desktop / Cursor

McpServers

Unitree Go2 MCP Server

Requirements

MCP Functions

Installation

1. Setup unitree_ros2 environment

2. Clone this repository

3. uv Installation

4. MCP Server Configuration

How To Use

1. Set UNITREE_ROS2_SETUP_SH_PATH.

If you use rosbridge, you need Set IP and Port to connect rosbridge (Optional).

2. Check the Go2 robot is connected to 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.".

5. Check the Go2 robot's movement.

6. Type what you want to do and Enjoy!

Contextual Understanding

Simple Task

Contributing

Install

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1. Setup `unitree_ros2` environment

3. `uv` Installation

1. Set `UNITREE_ROS2_SETUP_SH_PATH`.

If you use `rosbridge`, you need Set IP and Port to connect rosbridge (Optional).

3. Run any AI system that has imported `unitree-go2-mcp-server`.