unitree_sdk2_python

When working with the Unitree SDK2, you must use the correct Interface Definition Language (IDL) package based on your robot model to ensure correct communication:

• For Unitree G1 or H1-2 robots: Use idl/unitree_hg.
• For Unitree Go2, B2, H1, B2w, or Go2w robots: Use idl/unitree_go.

Additional robot features can be accessed via the following commands (replace enp2s0 with your network interface):

• Wireless Controller Status: Outputs the status of each key on the remote.

  python3 ./example/wireless_controller/wireless_controller.py enp2s0

• Front Camera (OpenCV): Opens a graphical window showing the camera feed. Press ESC to exit.

  python3 ./example/front_camera/camera_opencv.py enp2s0

• Obstacle Avoidance Switch: Cycles the obstacle avoidance service on and off.

  python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0

• Light and Volume Control (VUI): Cycles the robot's volume and light brightness.

  python3 ./example/vui_client/vui_client_example.py enp2s0

To install the SDK, ensure you have python3-pip installed, then clone the repository and install it in editable mode using pip3 install -e ..

Dependencies:

• Python >= 3.8
• cyclonedds == 0.10.2
• numpy
• opencv-python

cd ~
sudo apt install python3-pip
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
pip3 install -e .

To install the SDK, ensure you have the necessary dependencies and follow the installation steps using pip3.

Dependencies:

• python>=3.8
• cyclonedds==0.10.2
• numpy
• opencv-python

Installation Steps:

1. Install python3-pip if not already present.
2. Clone the repository.
3. Install the package in editable mode using pip3 install -e ..

cd ~
sudo apt install python3-pip
git clone https://github.com/unitreerobotics/unitree_sdk2_python.git
cd unitree_sdk2_python
pip3 install -e .

High-level interfaces allow for robot status acquisition and control (e.g., standing, moving, following trajectories). Always replace enp2s0 with your actual network interface name.

Read High-Level Status:

python3 ./example/high_level/read_highstate.py enp2s0

High-Level Control (Sport Mode):

python3 ./example/high_level/sportmode_test.py enp2s0

Available test methods within sportmode_test.py include:

• test.StandUpDown(): Stand up and lie down
• test.VelocityMove(): Velocity control
• test.BalanceAttitude(): Attitude control
• test.TrajectoryFollow(): Trajectory tracking
• test.SpecialMotions(): Special motions

# Read status
python3 ./example/high_level/read_highstate.py enp2s0

# Control robot
python3 ./example/high_level/sportmode_test.py enp2s0

High-level interfaces allow for robot state monitoring and motion control. Most commands require specifying the network interface name (e.g., enp2s0).

High-Level Status: Read robot state using read_highstate.py.

High-Level Control: Control robot motions using sportmode_test.py. The script provides several test methods:

• test.StandUpDown(): Stand up or lie down.
• test.VelocityMove(): Velocity control.
• test.BalanceAttitude(): Attitude control.
• test.TrajectoryFollow(): Trajectory following.
• test.SpecialMotions(): Special motions.

# Read high-level status
python3 ./example/high_level/read_highstate.py enp2s0

# High-level control test
python3 ./example/high_level/sportmode_test.py enp2s0

The SDK provides interfaces for auxiliary robot services:

Obstacle Avoidance: Toggle the obstacle avoidance service using obstacles_avoid_switch.py.

VUI (Voice/User Interface) Client: Control light brightness and volume levels using vui_client_example.py.

# Toggle obstacle avoidance
python3 ./example/obstacles_avoid_switch/obstacles_avoid_switch.py enp2s0

# Control lights and volume
python3 ./example/vui_client/vui_client_example.py enp2s0

Low-level interfaces provide direct access to joints and sensors.

Warning: Before using low-level motor control, you must use the mobile app to turn off the high-level motion service (sport_mode) to prevent conflicting instructions.

Read Low-Level Status: This command outputs the state of the right front leg hip joint, IMU, and battery voltage.

python3 ./example/low_level/lowlevel_control.py enp2s0

Low-Level Motor Control: Running the same command (lowlevel_control.py) while in low-level mode will cause the left hind leg hip joint to maintain a 0-degree position (with kp=10, kd=1) and the left hind leg calf joint to output 1Nm of torque.

Low-level interfaces provide direct access to motor states and control.

Important: Before using low-level motor control, you must use the mobile app to disable the high-level motion service (sport_mode) to prevent command conflicts.

Low-Level Status: Run lowlevel_control.py to output hip joint states, IMU data, and battery voltage.

Low-Level Motor Control: Running lowlevel_control.py also demonstrates basic motor control (e.g., setting specific torque or position on a joint).

# Low-level status and control
python3 ./example/low_level/lowlevel_control.py enp2s0

When enabaleLease is set to True during initialization, you must manage the lease lifecycle to ensure commands are authorized.

Methods:

• WaitLeaseApplied(): Blocks until the lease has been successfully applied.
• GetLeaseId(): Returns the current active lease ID if enabled, otherwise returns None.

from unitree_sdk2py.rpc.client import Client

client = Client("your_service_name", enabaleLease=True)
# Wait for the lease to be applied before sending commands
client.WaitLeaseApplied()

lease_id = client.GetLeaseId()
print(f"Active Lease ID: {lease_id}")

If you encounter the error Could not locate cyclonedds. Try to set CYCLONEDDS_HOME or CMAKE_PREFIX_PATH, you must manually compile and install cyclonedds from source before installing the SDK.

1. Clone and build cyclonedds (use branch releases/0.10.x):

cd ~
git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x 
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=../install
cmake --build . --target install

2. Set the CYCLONEDDS_HOME environment variable to the installation path and install the SDK:

cd ~/unitree_sdk2_python
export CYCLONEDDS_HOME=~/cyclonedds/install
pip3 install -e .

Access the robot's front camera using OpenCV. This requires a system with a graphical user interface (GUI). Press ESC to exit the program.

python3 ./example/front_camera/camera_opencv.py enp2s0