Unitree Go2 WebRTC UI

A browser-based control interface for the Unitree Go2 robot dog, communicating over WebRTC. Built with TypeScript, Three.js, and Vite.

Features

• Real-time 3D visualization — Go2 model with live joint angles, lidar spinning animation, and voxel point cloud (SLAM)
• Camera feed — Live video with PIP view swap (camera/voxel)
• Dual joystick control — Move and rotate the robot
• Action bar — Roll over, stretch, shake hand, dance, flips, and more (customizable carousel)
• Mode switching — Damping, free walk, sit, crouch, run, walk stair, hand stand, bound, cross step, etc.
• Robot status — Battery, motor data (temp, position, torque, lost packets), IMU, LiDAR state, network info
• Service manager — View all running services, start/stop with protection handling
• Connection modes:
  • Local Network (STA-L) — Direct connection via IP on same network
  • Access Point (AP) — Direct connection at 192.168.12.1
  • Remote — Cloud connection via Unitree account (email/password or token)
• Network scanner — UDP multicast auto-discovery of robots on the network
• Firmware info — Package version fetched via bashrunner

Prerequisites

• Node.js >= 18
• npm >= 9
• Unitree Go2 robot (firmware v1.1.x+)

Installation

git clone https://github.com/legion1581/unitree_go2_ui.git
cd unitree_go2_ui
npm install

Usage

Development

npm run dev

Open http://localhost:5173 in Chrome (recommended).

The dev server includes:

• Hot module replacement
• Built-in UDP multicast scanner (no separate process needed)
• Proxy for robot API and Unitree cloud API (avoids CORS)

Production Build

npm run build
npm run preview

Connecting to the Robot

Local Network (recommended)

1. Connect your computer to the same network as the Go2
2. Select Local Network mode
3. Click Scan to auto-discover the robot, or enter the IP manually
4. Click Connect

Access Point

1. Connect to the Go2's WiFi hotspot
2. Select Access Point mode (IP is auto-filled to 192.168.12.1)
3. Click Connect

Remote

1. Select Remote mode
2. Enter the robot's serial number
3. Either enter your Unitree account email/password, or paste an access token
4. Click Connect

Connection	Hub	Status	Services

Browser Support

Browser	Status
Chrome	Tested, fully working
Firefox	Experimental (WebRTC data channel timing differences)
Safari	Not tested

Project Structure

src/
  connection/       # WebRTC, local/remote connectors, network scanner
  crypto/           # AES-ECB, RSA, AES-GCM for auth and SDP exchange
  protocol/         # Data channel handler, topics, sport commands
  ui/
    components/     # Action bar, PIP camera, status/services pages, nav bar
    scene/          # Three.js scene, robot model, voxel map
  proxy-plugin.ts   # Vite plugin: robot proxy, scanner, cloud API proxy
public/
  icons/            # Action and mode SVG icons
  sprites/          # UI sprites and backgrounds
  models/           # Go2.glb 3D model
server/
  scanner.mjs       # Standalone UDP multicast scanner (optional)

Sport Commands (API IDs)

Actions and modes use the MCF sport API IDs matching firmware v1.1.11:

Action	ID	Mode	ID
Roll Over	1021	Damping	1001
Stretch	1017	Free Walk	2045
Shake Hand	1016	Sit Down	1009
Heart	1036	Crouch	1005
Pounce	1032	Run	1011
Jump Forward	1031	Walk Stair	1049
Greet	1029	Lock On	1004
Dance 1	1022	Static Walk	1061
Dance 2	1023	Endurance	1035
Front Flip	1030	Leash	2056
Back Flip	2043	Hand Stand	2044
Left Flip	2041	Free Avoid	2048
		Bound	2046
		Jump	2047
		Stand	1006
		Cross Step	2051

License

MIT