robotmcp--ros-mcp-server/robot_specifications/unitree_go2.yaml

name: unitree_go2
alias: go2
type: real
prompts: |
              The Unitree Go2 is a quadruped robot equipped with advanced sensors and mobility, designed for agile movement and versatile research or industrial applications.
              The Unitree Go2 robot uses many custom messages. Therefore, you don't need to use functions to check the topics.

              Unitree Go2 Robot High-Level Control Information (RECOMMENDED):
              The `go2_ws` workspace exposes robot actions as ROS 2 services. These are PREFERRED over manual topic publishing because they handle the control loop and logic automatically.
              
              Available Services:
              1. Posture Control (Type: `go2_interfaces/srv/Trigger`):
                 - `/go2/stand_up`: Stand up to default height.
                 - `/go2/stand_down`: Lie down.
                 - `/go2/sit`: Sit down.
                 - `/go2/recovery`: Recover from fall or unknown state.
                 - `/go2/balance`: Enter balance stand mode.

              2. Movement Control (Type: `go2_interfaces/srv/Move`):
                 - Service: `/go2/move`
                 - Fields: `{vx: float, vy: float, vyaw: float, distance: float}`
                 - `vx`: Forward/backward velocity (m/s).
                 - `vy`: Left/right strafe velocity (m/s).
                 - `vyaw`: Rotation velocity (rad/s).
                 - `distance`: Target distance (for linear move) or angle (for rotation).
                 - Note: The robot will automatically walk for the calculated duration and then stop.

              3. Tricks/Special Actions (Type: `go2_interfaces/srv/Trigger`):
                 - `/go2/dance1`, `/go2/dance2`
                 - `/go2/hello`, `/go2/stretch`
                 - `/go2/front_flip`, `/go2/back_flip`

              - Example Service Calls:
              call_service(service='/go2/stand_up', type='go2_interfaces/srv/Trigger')
              call_service(service='/go2/sit', type='go2_interfaces/srv/Trigger')
              call_service(service='/go2/move', type='go2_interfaces/srv/Move', request={'vx': 0.5, 'vy': 0.0, 'vyaw': 0.0, 'distance': 2.0})

              Unitree Go2 Robot Basic Control Information (Low-Level):
              The Unitree Go2 robot is controlled via the /wirelesscontroller topic with the following parameters:
              *  ly: controls forward/backward movement, forward is positive, backward is negative (range: -1.0 to 1.0)
              *  lx: controls left/right movement, left is negative, right is positive (range: -1.0 to 1.0)
              *  rx: controls left/right rotation, left is negative, right is positive (range: -1.0 to 1.0)
              *  ry: controls forward/backward tilting, forward is positive, backward is negative (range: -1.0 to 1.0)
              #  keys: used for special actions (default is 0)

              Important: All movement commands max speed is 1.0 (full speed) equlals 1.0 m/s.

              If the Unitree Go2 moves using publish_for_durations, always set the last message to all zeros to stop the robot.
              -Example:
              publish_for_durations(
                  topic='/wirelesscontroller',
                  msg_type='unitree_msgs/msg/WirelessController',
                  messages=[{
                      'lx': 0.0,
                      'ly': 0.5,  # Move forward at half speed
                      'rx': 0.0,
                      'ry': 0.0,
                      'keys': 0
                  },
                  {
                      'lx': 0.0,
                      'ly': 0.0, 
                      'rx': 0.0,
                      'ry': 0.0,
                      'keys': 0
                  }],
                  durations=[2.0, 1.0]  # Move for 2 seconds, then stop for 1 second
              )

              Unitree Go2 Robot Special Actions Information:
              For special actions, use the keys field in the /wirelesscontroller topic:
              CRITICAL RULE: ALL special actions MUST be sent as a pair using publish_for_durations with keys=1056 first, followed by the special action code.
              Important: Always send keys=1056 first before attempting any special action.
              *  keys=1056: prerequisite command that MUST be sent once before any special action not just movement
              *  keys=257  : `jump_forward`
              *  keys=258  : `greet`
              *  keys=528  : `shake_hands`
              *  keys=1025 : `pounce`
              *  keys=513  : `sit_down`
              *  keys=514  : `dance`

              - Example:
              publish_for_durations(
                  topic='/wirelesscontroller',
                  msg_type='unitree_msgs/msg/WirelessController',
                  messages=[{
                      'ly': 0.0,
                      'lx': 0.0,
                      'rx': 0.0,
                      'ry': 0.0,
                      'keys': 1056  # Must send this first every time before any special action
                  },
                  {
                      'ly': 0.0,
                      'lx': 0.0,
                      'rx': 0.0,
                      'ry': 0.0,
                      'keys': 257  # Then send the special action command
                  }],
                  durations=[1.0, 1.0]
              )

              Safety Guidelines:
              - Always validate robot state before sending commands
              - Use reasonable duration values (typically 0.1-2.0 seconds)
              - Monitor for obstacles using sensor data when available
              - If connection is lost, assume robot needs to be stopped

              Unitree Go2 Robot Sensor Information:
              The Unitree Go2 robot provides various sensor data. Here are some key topics:
              *  /utlidar/cloud: Lidar point cloud data
              *  /camera/rgb/image_raw: RGB camera images
              Using these sensors, the robot can measure the distance to objects and perceive its environment.