Is Unitree Sdk2 Mcp safe to install?

SaferSkills independently audited Unitree Sdk2 Mcp (Agent Skill) and scored it 100/100 (green). The audit ran 55 deterministic rules across Security, Supply Chain, Maintenance, Transparency, and Community; it found 0 high-severity and 0 lower-severity findings. The full rule-by-rule trace and per-finding evidence are below. Free, methodology-open.

CategoryWeightCategory scoreContribution

Securityprompt, exec, net, exfil, eval

35%

100

35.0 pts

Supply chainhash, typosquat, maintainer, lockfile

20%

100

20.0 pts

Maintenancestaleness, pinning, CI

15%

100

15.0 pts

TransparencySKILL.md, perms, README

15%

100

15.0 pts

Communityinstalls, verify, response

15%

100

15.0 pts

Findings & checks · 0 flagged

Securityscore 100 · 0 findings

✓—All security checks passedNo findings in this category for the latest scan.pass

Supply chainscore 100 · 0 findings

✓—All supply chain checks passedNo findings in this category for the latest scan.pass

Maintenancescore 100 · 0 findings

✓—All maintenance checks passedNo findings in this category for the latest scan.pass

Transparencyscore 100 · 0 findings

✓—All transparency checks passedNo findings in this category for the latest scan.pass

Communityscore 100 · 0 findings

✓—All community checks passedNo findings in this category for the latest scan.pass

The primary manifest — the file an agent reads to learn what this artifact does.

README.md · 1 file

README.md11.0 KB · Markdown

unitree-sdk2-mcp

🌐 English | 中文

ROSClaw MCP Server for Unitree Robots via DDS protocol.

Supports: G1, Go2, Go2w, H1, H2, B2, B2w, A2, R1

Part of the ROSClaw Embodied Intelligence Operating System.

Overview

This MCP server enables LLM agents (Claude, GPT-4, etc.) to control any Unitree robot through the Model Context Protocol. It communicates with the robot using DDS (Data Distribution Service) — the same protocol used by Unitree's official SDK.

LLM Agent  ──MCP──►  unitree-sdk2-mcp  ──DDS──►  Unitree Robot

Supported Robots

Model	Type	DOF	Features	Weight	Battery
G1	Humanoid	23	Walking, Arm Control	~35kg	2.5h
Go2	Quadruped	12	Trotting, Galloping	~15kg	2.0h
Go2w	Quadruped+Wheels	12	Hybrid Locomotion	~16kg	2.0h
H1	Humanoid	20	Walking, Arm Control	~47kg	2.0h
H2	Humanoid	20	Walking, Arm Control	~45kg	2.5h
B2	Quadruped	12	Industrial, Heavy Payload	~60kg	4.0h
B2w	Quadruped+Wheels	12	Industrial+Wheels	~62kg	4.0h
A2	Quadruped	12	Agile, Education	~15kg	1.5h
R1	Wheeled	4	Navigation, Delivery	~25kg	3.0h

SDK Information

Property	Value
SDK Name	unitree_sdk2
SDK Version	2.1.0+
Protocol	DDS (Data Distribution Service)
Source Repository	github.com/unitreerobotics/unitree_sdk2
Documentation	support.unitree.com
License	BSD-3-Clause
Generated	2026-04-15

Features

Multi-Robot Support: Control any Unitree robot with unified interface
Dynamic Configuration: Automatic robot type detection and configuration
High-Level Actions: Stand, sit, walk, wave (robot-dependent)
Safety Guards: Joint limits enforced before every command
Real-time State: Battery, mode, joint positions, IMU at 100Hz
DDS Protocol: CycloneDDS / FastDDS compatible
Async Design: Non-blocking MCP tools with background state thread

Installation

# Clone
git clone https://github.com/ros-claw/unitree-sdk2-mcp.git
cd unitree-sdk2-mcp

# Install with uv (recommended)
uv venv --python python3.10
source .venv/bin/activate
uv pip install -e .

# Or with pip
pip install -e .

Dependencies

# Required: Unitree SDK2
# Download from: https://github.com/unitreerobotics/unitree_sdk2

# DDS Middleware (choose one)
pip install cyclonedds  # or fastdds

Quick Start

Run as MCP Server

# stdio transport (for Claude Desktop / MCP clients)
python src/unitree_sdk2_mcp_server.py

# Or using the installed entry point
unitree-sdk2-mcp

# Legacy alias (backward compatible)
rosclaw-g1-mcp

Connect to a Robot

# First, list available robots
list_robots()

# Get robot info
get_robot_info(robot_id="g1")

# Connect
connect_robot(robot_id="g1", domain_id=0)

# Or connect to Go2
connect_robot(robot_id="go2", domain_id=0)

Claude Desktop Configuration

Add to your claude_desktop_config.json:

{
  "mcpServers": {
    "unitree-sdk2": {
      "command": "python",
      "args": ["/path/to/unitree-sdk2-mcp/src/unitree_sdk2_mcp_server.py"],
      "transportType": "stdio",
      "description": "Unitree Multi-Robot via DDS",
      "sdk_version": "2.1.0",
      "sdk_source": "https://github.com/unitreerobotics/unitree_sdk2"
    }
  }
}

MCP Inspector (Testing)

mcp dev src/unitree_sdk2_mcp_server.py

Available Tools

Multi-Robot Tools

Tool	Description
`list_robots`	List all supported Unitree robots
`get_robot_info`	Get configuration for specific robot
`connect_robot`	Connect to a robot (specify robot_id)
`disconnect_robot`	Disconnect from a robot

Control Tools

Tool	Description	Supported Robots
`stand_up`	Command robot to stand up	G1, H1, H2, Go2, B2, A2
`sit_down`	Command robot to sit down/stop	All
`walk_with_velocity`	Walk with linear/angular velocity	G1, Go2, H1, H2, B2, A2
`move_joint`	Move a single joint to target angle	All with joints
`move_joints`	Move multiple joints simultaneously	All with joints
`stop_movement`	Stop and hold current position	All
`emergency_stop`	Emergency halt (use with caution!)	All
`wave_hand`	Perform waving gesture	G1, H1, H2

Available Resources

Resource	Description
`unitree://{robot_id}/status`	Battery, mode, joint positions
`unitree://{robot_id}/joints`	Joint limits for all joints
`unitree://connections`	All active DDS connections

Robot Configuration

Humanoid Robots (G1, H1, H2)

Joint Structure:

Left Leg:   left_hip_yaw, left_hip_roll, left_hip_pitch, left_knee, left_ankle
Right Leg:  right_hip_yaw, right_hip_roll, right_hip_pitch, right_knee, right_ankle
Waist:      waist_yaw, waist_roll, waist_pitch (G1: 3 DOF, H1/H2: 1 DOF)
Left Arm:   left_shoulder_pitch, left_shoulder_roll, left_shoulder_yaw, left_elbow
Right Arm:  right_shoulder_pitch, right_shoulder_roll, right_shoulder_yaw, right_elbow

G1 Joint Limits:

Joint	Range (rad)
left_hip_yaw	[-2.35, 2.35]
left_hip_roll	[-0.78, 0.78]
left_hip_pitch	[-2.5, 2.5]
left_knee	[-0.5, 2.5]
left_ankle	[-1.0, 1.0]
right_hip_yaw	[-2.35, 2.35]
right_hip_roll	[-0.78, 0.78]
right_hip_pitch	[-2.5, 2.5]
right_knee	[-0.5, 2.5]
right_ankle	[-1.0, 1.0]
waist_yaw	[-2.5, 2.5]
waist_roll	[-0.5, 0.5]
waist_pitch	[-1.0, 1.0]
left_shoulder_pitch	[-3.14, 3.14]
left_shoulder_roll	[-0.5, 3.5]
left_shoulder_yaw	[-2.0, 2.0]
left_elbow	[-1.5, 2.0]
right_shoulder_pitch	[-3.14, 3.14]
right_shoulder_roll	[-3.5, 0.5]
right_shoulder_yaw	[-2.0, 2.0]
right_elbow	[-1.5, 2.0]

Quadruped Robots (Go2, Go2w, B2, B2w, A2)

Joint Structure:

Front Left:  front_left_hip, front_left_thigh, front_left_calf
Front Right: front_right_hip, front_right_thigh, front_right_calf
Rear Left:   rear_left_hip, rear_left_thigh, rear_left_calf
Rear Right:  rear_right_hip, rear_right_thigh, rear_right_calf

Go2 Joint Limits:

Joint	Range (rad)
front_left_hip	[-0.87, 0.87]
front_left_thigh	[-0.52, 2.97]
front_left_calf	[-2.76, -0.52]
... (similar for other legs)

Safety Information

WARNING: This MCP server controls physical robots. Improper use can cause:

Equipment damage
Personal injury
Property damage

Safety Features

Feature	Description
Joint Limits	All commands validated against hardware limits per robot type
Velocity Limits	Enforced per robot configuration
Emergency Stop	`emergency_stop()` disables motors immediately

Safety Levels

Level	Color	Description
CRITICAL	🔴	Immediate danger (falling, collision)
HIGH	🟠	Potential hardware damage
MEDIUM	🟡	Operational issue
LOW	🟢	Informational

Emergency Procedures

Immediate Stop: Use emergency_stop(robot_id) or press physical E-stop
Power Off: Disconnect battery if safe
Check Status: Use unitree://{robot_id}/status resource

Error Handling

Error Codes

Code	Name	Severity	Description
-1	CONNECTION_FAILED	🟠 error	Failed to connect to DDS domain
-2	TIMEOUT	🟠 error	Operation timed out
-3	INVALID_PARAMETER	🟠 error	Invalid joint name or value
-4	SAFETY_VIOLATION	🔴 critical	Command exceeds joint limits
-5	NOT_INITIALIZED	🟠 error	Not connected to robot
-6	UNKNOWN_ROBOT	🟠 error	Unsupported robot ID

Troubleshooting

Issue	Possible Cause	Solution
Connection failed	Robot powered off	Check battery and power switch
Connection failed	Wrong DDS domain	Verify domain_id parameter
Command rejected	Joint limit exceeded	Check robot-specific joint limits
Slow response	Network latency	Check WiFi/Ethernet connection
Unknown robot ID	Typo in robot_id	Use `list_robots()` to see valid IDs

Architecture

unitree_sdk2_mcp_server.py
├── SDK_METADATA        — SDK version and source info
├── RobotState          — Robot state dataclass (generic)
├── StateBuffer         — Thread-safe ring buffer for DDS data
├── UnitreeDDSBridge    — DDS communication bridge
│   ├── connect()       — Initialize DDS participant
│   ├── _dds_listener() — Background thread at 100Hz
│   └── publish_command() — Send /lowcmd
├── robot_configs.py    — Configuration for all 9 robots
│   ├── G1_CONFIG       — G1 humanoid (23 DOF)
│   ├── GO2_CONFIG      — Go2 quadruped (12 DOF)
│   ├── H1_CONFIG       — H1 humanoid (20 DOF)
│   ├── B2_CONFIG       — B2 industrial quadruped
│   ├── A2_CONFIG       — A2 agile quadruped
│   └── R1_CONFIG       — R1 wheeled robot
└── MCP Tools           — FastMCP tool definitions

DDS Topics

Topic	Direction	Description
`/lowstate`	Subscribe	Robot state (joints, IMU, battery)
`/lowcmd`	Publish	Robot commands (joint targets, mode)
`/sportmodestate`	Subscribe	Sport mode state

Dependencies

Python 3.10+
mcp[fastmcp] — MCP framework
unitree_sdk2 — Unitree DDS SDK (install separately from hardware package)
cyclonedds or fastdds — DDS middleware

References

License

MIT License — See LICENSE

Part of ROSClaw

rosclaw — Core framework (see arXiv paper)
unitree-sdk2-mcp — Unitree Multi-Robot (DDS)
rosclaw-ur-ros2-mcp — UR5 arm (ROS2)
rosclaw-gimbal-mcp — GCU Gimbal (Serial)
rosclaw-ur-rtde-mcp — UR5 via RTDE

Generated by ROSClaw SDK-to-MCP Transformer

SDK Version: unitree_sdk2 2.1.0+ | Protocol: DDS | Robots: G1, Go2, Go2w, H1, H2, B2, B2w, A2, R1

Unitree Sdk2 Mcp— agent skill

Is Unitree Sdk2 Mcp safe to install?

unitree-sdk2-mcp

Overview

Supported Robots

SDK Information

Features

Installation

Dependencies

Quick Start

Run as MCP Server

Connect to a Robot

Claude Desktop Configuration

MCP Inspector (Testing)

Available Tools

Multi-Robot Tools

Control Tools

Available Resources

Robot Configuration

Humanoid Robots (G1, H1, H2)

Quadruped Robots (Go2, Go2w, B2, B2w, A2)

Safety Information

Safety Features

Safety Levels

Emergency Procedures

Error Handling

Error Codes

Troubleshooting

Architecture

DDS Topics

Dependencies

References

License

Part of ROSClaw

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