unitree2

robot_unitree2

StepIt plugin for controlling Unitree Go2, B2, A2, and G1 robots, and with the Unitree joysticks.

Environment Variables

• STEPIT_NETIF (string, default: auto-detect): the network interface for communication. If unset, StepIt requires exactly one IPv4 address in the 192.168.123.x subnet and uses its interface name automatically.
• STEPIT_UNITREE2_DOMAIN_ID (int, default: 0): the DDS domain ID used by unitree_sdk2.

Provided Factories

• stepit::RobotApi:
  • Quadrupeds: a2, b2, go2, go2w
  • Humanoids: g1 (29DoF), g1_bfs (29DoF)
• stepit::joystick::Joystick:
  • unitree2: providing joystick input with the Unitree joystick. The LAS button is binded to the L1 + L2 buttons, and the RAS button is binded to the R1 + R2 buttons.

Executables

• unitree2_switch_motion: Switch or query the builtin Unitree2 locomotion state.

  unitree2_switch_motion help
  unitree2_switch_motion status
  unitree2_switch_motion activate <mode>
  unitree2_switch_motion deactivate
  unitree2_switch_motion disable
  unitree2_switch_motion enable

• unitree2_switch_service: Switch Unitree service state.

  unitree2_switch_service help
  unitree2_switch_service switch <service> off
  unitree2_switch_service enable <service>
  unitree2_switch_service disable <service>

Notes

• Add unitree_sdk2 thirdparty library path to the front of LD_LIBRARY_PATH if stepit is also built with ROS2.

  export LD_LIBRARY_PATH=<stepit_dir>/extern/robot_sdk/unitree_sdk2/thirdparty/lib/$(uname -m):$LD_LIBRARY_PATH

• Set environment variable STEPIT_NETIF to lo to use unitree_mujoco for sim-to-sim transfer.

  export STEPIT_NETIF=lo