unitree_webrtc_connect 2.0.5

Connect to the Unitree Go2 and G1 with WebRTC

Unitree WebRTC Connect

Python WebRTC driver for Unitree Go2 and G1 robots. Provides high-level control through the same WebRTC protocol used by the Unitree Go/Unitree Explore mobile apps — no jailbreak or firmware modification required.

Supported Models

Model	Variants
Go2	AIR, PRO, EDU
G1	AIR, EDU

Supported Firmware

Robot	Firmware Versions
Go2	1.1.1 – 1.1.14 (latest), 1.0.19 – 1.0.25
G1	1.4.0 (latest)

Features

Feature	Go2	G1
Data channel (pub/sub, RPC)	yes	yes
Sport mode control	yes	yes
Video stream (receive)	yes	—
Audio stream (send/receive)	yes	—
LiDAR point cloud decoding	yes	—
VUI (LED, brightness, volume)	yes	—
AudioHub (audio file management)	yes	—
Obstacle avoidance API	yes	—
Multicast device discovery	yes	—

Installation

PyPI (recommended)

sudo apt update
sudo apt install -y python3-pip portaudio19-dev
pip install unitree_webrtc_connect

From source

sudo apt update
sudo apt install -y python3-pip portaudio19-dev
git clone https://github.com/legion1581/unitree_webrtc_connect.git
cd unitree_webrtc_connect
pip install -e .

Quick Start

from unitree_webrtc_connect import UnitreeWebRTCConnection, WebRTCConnectionMethod

conn = UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalSTA, ip="192.168.123.18")
await conn.connect()

Connection Methods

AP Mode

Robot is in Access Point mode, client connects directly to the robot's WiFi.

UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalAP)

STA-L Mode (Local Network)

Robot and client are on the same local network. Requires IP or serial number.

# By IP
UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalSTA, ip="192.168.8.181")

# By serial number (uses multicast discovery, Go2 only)
UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalSTA, serialNumber="B42D2000XXXXXXXX")

STA-T Mode (Remote)

Remote connection through Unitree's TURN server. Control your robot from a different network. Requires Unitree account credentials.

UnitreeWebRTCConnection(
    WebRTCConnectionMethod.Remote,
    serialNumber="B42D2000XXXXXXXX",
    username="[e-mail]",
    password="pass"
)

Examples

Examples are organized by robot model under the /examples directory:

Go2

Category	Example	Description
Data Channel	data_channel/sportmode/	Sport mode movement commands
	data_channel/sportmodestate/	Subscribe to sport mode state
	data_channel/lowstate/	Subscribe to low-level state (IMU, motors)
	data_channel/multiplestate/	Subscribe to multiple state topics
	data_channel/vui/	VUI control (LED, volume, brightness)
	data_channel/lidar/lidar_stream.py	LiDAR point cloud subscription
	data_channel/lidar/plot_lidar_stream.py	LiDAR 3D visualization (Three.js)
Audio	audio/live_audio/	Live audio receive
	audio/save_audio/	Save audio to file
	audio/mp3_player/	Play MP3 through robot speaker
	audio/internet_radio/	Stream internet radio
Video	video/camera_stream/	Display video stream

G1

Category	Example	Description
Data Channel	data_channel/sport_mode/	Sport mode movement commands

Imports

All public classes and constants are exported from the package root:

from unitree_webrtc_connect import (
    UnitreeWebRTCConnection,
    WebRTCConnectionMethod,
    WebRTCDataChannel,
    WebRTCDataChannelPubSub,
    DATA_CHANNEL_TYPE,
    RTC_TOPIC,
    SPORT_CMD,
)

Acknowledgements

A big thank you to TheRoboVerse community! Visit us at TheRoboVerse for more information and support.

Special thanks to the tfoldi WebRTC project and abizovnuralem for adding LiDAR support, MrRobotoW for the LiDAR visualization example, and Nico for the aiortc monkey patch.

Support

If you like this project, please consider buying me a coffee: