@ebowwa/unitree-g1

TypeScript bindings for Unitree G1 SDK2 - Control Unitree G1 humanoid robot from Node.js/Bun.

Installation

bun add @ebowwa/unitree-g1

Prerequisites

• libunitree_sdk2.so - Unitree SDK2 shared library
• CycloneDDS (libddsc.so) - DDS middleware
• Network connection to robot (Ethernet)

Usage

Basic Setup

import { init, release, G1Loco, FsmModeType } from '@ebowwa/unitree-g1';

// Initialize SDK with domain ID and network interface
init(0, 'eth0');

try {
  // Create locomotion client
  const loco = new G1Loco();

  // Check current mode
  const mode = loco.getFsmMode();
  console.log('Current mode:', mode);

  // Set to walking mode
  loco.setFsmMode(FsmModeType.WalkRun);

  // Move forward at 0.5 m/s
  loco.setVelocity(0.5, 0, 0);

  // Wait 2 seconds
  await new Promise(r => setTimeout(r, 2000));

  // Stop
  loco.stop();

  // Set to passive mode
  loco.setFsmMode(FsmModeType.Passive);
} finally {
  // Release resources
  release();
}

Arm Actions

import { init, release, G1Arm, ARM_ACTIONS } from '@ebowwa/unitree-g1';

init(0, 'eth0');

const arm = new G1Arm();

// Execute predefined action by ID
arm.executeAction(ARM_ACTIONS.SHAKE_HAND);

// Execute action by name
arm.executeActionByName('wave');

// Stop custom action
arm.stopAction();

// Get available actions
const actionList = arm.getActionList();
console.log('Available actions:', actionList);

release();

Using G1Robot Helper

import { G1Robot } from '@ebowwa/unitree-g1';

// Create robot with default config (domain 0, eth0)
const robot = new G1Robot(0, 'eth0');

// Get locomotion client
const loco = robot.loco();

// Get arm client
const arm = robot.arm();

API Reference

Functions

• init(domainId: number, networkInterface: string) - Initialize SDK
• release() - Release SDK resources
• isInitialized(): boolean - Check if SDK is initialized

Classes

G1Loco

• getFsmMode(): FsmModeType - Get current FSM mode
• setFsmMode(mode: FsmModeType) - Set FSM mode
• setVelocity(linearX, linearY, angularZ) - Set velocity command
• stop() - Stop the robot

G1Arm

• executeAction(actionId: number) - Execute action by ID
• executeActionByName(name: string) - Execute action by name
• stopAction() - Stop current action
• getActionList(): string - Get available actions (JSON)

Constants

// FSM Modes
FsmModeType.Last = 0
FsmModeType.Passive = 1
FsmModeType.WalkRun = 2

// Arm Actions
ARM_ACTIONS.RELEASE = 99
ARM_ACTIONS.TWO_HAND_KISS = 11
ARM_ACTIONS.SHAKE_HAND = 27
ARM_ACTIONS.WAVE = 28
ARM_ACTIONS.THUMBS_UP = 29

// Channel Names
CHANNELS.LOW_STATE = 'rt/lowstate'
CHANNELS.LOW_COMMAND = 'rt/lowcmd'
CHANNELS.VELOCITY_COMMAND = 'rt/velocitycmd'

// API IDs
LOCO_API.SET_VELOCITY = 7105
LOCO_API.SET_FSM_MODE = 7003

Building from Source

# Build Rust crate
cd unitree-sdk && cargo build --release

# Build napi bindings
cd ../unitree-ts && bun run build

License

MIT