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use_unitree·

⏱ 60s · universal

One tool. The whole SDK.

use_unitree(service_name="loco", operation_name="StandUp", parameters={})

Inspired by use_aws. AST-verified against the local unitree_sdk2_python/ clone at import time — hallucinated calls are caught before they touch DDS.

services·

service_name= client example ops
loco LocoClient StandUp Damp Squat SetFsmId Move HighStand
arm G1ArmActionClient ExecuteAction GetActionList
audio AudioClient TtsMaker SetVolume LedControl PlayStream
motion_switcher MotionSwitcherClient CheckMode SelectMode ReleaseMode
vui VuiClient SetBrightness SetVolume TtsMaker
robot_state RobotStateClient ServiceList ServiceSwitch
meta (discovery) list_services list_operations describe_operation

examples·

# stand height
use_unitree("loco", "SetStandHeight", {"stand_height": 0.75})
# speaker volume
use_unitree("audio", "SetVolume", {"volume": 60})
# TTS
use_unitree("audio", "TtsMaker", {"text": "hello from neon", "speaker_id": 0})
# eye LED
use_unitree("audio", "LedControl", {"R": 0, "G": 240, "B": 255})
# motion mode
use_unitree("motion_switcher", "CheckMode", {})

discover before you dispatch (always safe, no DDS)·

use_unitree("meta", "list_services", {})
use_unitree("meta", "list_operations", {"service_name": "audio"})
use_unitree("meta", "describe_operation",
            {"service_name": "loco", "operation_name": "SetFsmId"})

how AST verification works·

At boot, use_unitree.py parses every client class and records each method's params. Every call is checked:

  1. service_name known
  2. operation_name exists on that client
  3. parameters keys ⊆ method signature
  4. FSM preconditions (for loco)

Bad calls return a helpful error, not a crashed DDS writer.

composed vs universal·

situation use
arm gesture (FSM + mutex + release) g1_arm_action
walking (clamps + user OK) g1_walk_forward / g1_move_velocity
squat/lie transition g1_safe_*
anything else in the SDK use_unitree

Composed for safety, universal for coverage.

use_dds composed catalog