feat: 初始化 Go2 导航代码与配置
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unitree_ui/unitree_ui-main/README.md
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# Unitree WebRTC UI
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A browser-based control interface for **Unitree Go2**, **Unitree G1**, and **Unitree R1** robots, communicating over the same WebRTC connection the official mobile apps use. No jailbreak, no firmware modification, no phone app required.
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Built with TypeScript, Three.js, and Vite.
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<p align="center">
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<img src="images/webview_go2.png" width="90%" />
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</p>
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<p align="center">
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<img src="images/connect_go2.png" width="32%" />
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<img src="images/connect_g1.png" width="32%" />
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<img src="images/connect_r1.png" width="32%" />
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</p>
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## Supported Robots
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| Family | Firmware |
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|--------|----------|
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| **Go2** | 1.0.19 – 1.0.25, 1.1.1 – 1.1.15 *(latest)* |
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| **G1** | 1.2.0 – 1.4.5, 1.5.1+ *(latest)* |
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| **R1** | 1.4.2 *(latest)* |
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R1 shares the humanoid control channel with G1, so it inherits the same modes,
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arm gestures, status panels and e-stop. Its own FSM state ids differ — Run rides
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on 811 (`AmpMotion22Dof`) rather than 801, and it adds the dance / martial-arts
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set — all catalogued in [R1 Action List](docs/r1_action_list.md).
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## Tour
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<p align="center">
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<img src="images/landing.png" width="32%" />
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<img src="images/hub.png" width="32%" />
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<img src="images/webview_g1.png" width="32%" />
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</p>
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<p align="center">
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<img src="images/status_g1.png" width="32%" />
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<img src="images/services_go2.png" width="32%" />
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<img src="images/slam.png" width="32%" />
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</p>
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## Quick Start
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```bash
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git clone https://github.com/legion1581/unitree_ui.git
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cd unitree_ui
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npm install
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npm run start # Vite + Python BLE server together
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# or:
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npm run start:no-ble # Vite only, no Bluetooth features
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```
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`npm run start` and `npm run start:no-ble` already bind Vite to all interfaces, so the terminal will print both a `Local:` (`http://localhost:5173`) and a `Network:` (`http://192.168.x.x:5173`) URL — open the Local one on this machine, the Network one from your phone or another device on the same WiFi. Use **Chrome** (recommended).
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If you want Vite by itself (no BLE backend), `npm run dev` is localhost-only; `npm run dev:host` is the LAN-exposed equivalent.
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The dev server includes hot module replacement, a built-in UDP multicast scanner (no separate process needed), and proxies for the robot API, Unitree cloud API, and BLE server.
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For a production build:
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```bash
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npm run build && npm run preview
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```
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### Prerequisites
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- Node.js ≥ 18, npm ≥ 9
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- Chrome (Firefox is experimental, Safari untested)
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- A Unitree Go2, G1, or R1 robot
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## Features
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- **Real-time 3D viewport** — robot model with live joint angles, lidar spinning animation, voxel point cloud (Go2 SLAM).
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- **Camera + dual joystick control** — PIP video, on-screen joysticks, action carousel for sport commands and modes. On R1 the bar mirrors the official app (Damping / Zero Torque / Lock / Run plus the arm gestures) and adds the dance and Kung Fu / Jeet Kune Do states.
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- **Audio** — two-way over the WebRTC connection: push-to-talk megaphone broadcast from your mic, click-to-toggle monitoring of the robot's microphone, and an APK-style **Audio Player** in Controls (record clips, upload MP3/WAV — auto-converted to the robot's WAV format, play with single / list / no-loop modes, rename, delete; live play-state sync).
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- **Robot status** — battery, motors (temp / position / torque / lost packets), IMU, LiDAR, system info — family-aware fields for Go2 and for the G1 / R1 humanoids.
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- **Error handling** — live decoding of firmware fault messages with snapshot + delta reconciliation; NavBar badge with active-count chip, click-anchored popover, transient toast on new faults, and a grouped full-screen list of every active error.
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- **Service manager** — list MCF services, start / stop with protection handling.
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- **Account manager** — Unitree cloud account: devices, firmware, tutorials, sharing, raw debug API console.
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- **3D LiDAR Mapping (SLAM)** — Go2 only: build maps, localize, navigate, patrol, auto-dock and charge; local IndexedDB cache + zip import/export.
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- **Bluetooth setup** — pair the robot over BLE (V1/V2 for legacy firmware, V3 for G1 ≥ 1.5.1 / Go2 ≥ 1.1.15) to configure WiFi without the phone app.
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- **BLE remote relay** — pair a Unitree BLE remote, forward joystick + buttons to the robot over WebRTC.
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- **Dark / light theme** — floating toggle, persisted per-browser; the 3D scene adapts on the fly.
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- **Connection modes** — Local Network (STA-L), Access Point (AP), Remote (TURN through Unitree cloud).
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- **Network scanner** — UDP multicast auto-discovery, including SN-targeted scan for V3-capable firmware (G1 ≥ 1.5.1, Go2 ≥ 1.1.15).
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## Documentation
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| Topic | What's covered |
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|-------|---------------|
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| [Connection](docs/connection.md) | Family selection, STA-L / AP / Remote modes, network scan, AES-128 key flow for V3-capable firmware (G1 ≥ 1.5.1, Go2 ≥ 1.1.15) |
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| [Control View](docs/control.md) | Joysticks, action bar, modes, sport command IDs, BLE remote relay |
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| [R1 Action List](docs/r1_action_list.md) | R1 FSM state table (fsm_id), SetFsmId api, dances / Kung Fu / Jeet Kune Do |
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| [Robot Status](docs/status.md) | Battery / motor / IMU / system panels for every family |
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| [Error Handling](docs/error-handling.md) | Fault wire protocol, Go2 + G1 source/code catalog, badge / popover / page UI |
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| [Service Manager](docs/services.md) | MCF service list, protection flag, start/stop |
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| [Account Manager](docs/account.md) | Cloud sign-in, devices, tutorials, debug console |
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| [Bluetooth](docs/bluetooth.md) | Robot provisioning + remote pairing overview |
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| [Bluetooth V1/V2 protocol](docs/bluetooth-v1-v2.md) | GATT layout for legacy firmware (Go2 < 1.1.15, G1 < 1.5.1) |
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| [Bluetooth V3 protocol](docs/bluetooth-v3.md) | Magic-prefix + GCM key exchange (G1 ≥ 1.5.1, Go2 ≥ 1.1.15) |
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| [BLE Remote Control](docs/remote-control.md) | Frame layout, axes/buttons mapping, WebRTC relay |
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| [SLAM](docs/slam.md) | Mapping → Localization → Navigation flow, patrol, auto-dock |
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| [LiDAR](docs/lidar.md) | Point cloud decoding pipeline |
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## Project Structure
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```
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src/
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api/ # Unitree cloud API client (account, devices, firmware, …)
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connection/ # WebRTC, local/remote connectors, network scanner
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crypto/ # AES-ECB, RSA, AES-GCM for auth and SDP exchange
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protocol/ # Data channel handler, topics, sport commands
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ui/
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components/ # Action bar, PIP camera, status/services/account pages, nav bar
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scene/ # Three.js scene, robot model, voxel map
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proxy-plugin.ts # Vite plugin: robot proxy, scanner, cloud API, BLE API proxy
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public/
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icons/ # Action and mode SVG icons
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sprites/ # UI sprites and backgrounds
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models/ # Go2.glb 3D model (the humanoids use the camera view)
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server/
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ble_server.py # FastAPI BLE backend (scan, connect, WiFi config)
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scanner.mjs # Standalone UDP multicast scanner (optional)
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```
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## Acknowledgements
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Big thanks to the [RoboLegion](https://robolegion.com) community.
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## Support
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If you like this project, please consider buying me a coffee:
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<a href="https://www.buymeacoffee.com/legion1581" target="_blank"><img src="https://cdn.buymeacoffee.com/buttons/v2/default-yellow.png" alt="Buy Me A Coffee" style="height: 60px !important;width: 217px !important;" ></a>
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## License
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MIT
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