Python WebRTC driver for Unitree Go2 and G1 robots. Provides high-level control through the same WebRTC protocol used by the Unitree Go/Unitree Explore mobile apps — no jailbreak or firmware modification required.
| Model | Variants |
|---|---|
| Go2 | AIR, PRO, EDU |
| G1 | AIR, EDU |
| Robot | Firmware Versions | Auth |
|---|---|---|
| Go2 | 1.1.1 – 1.1.14 (latest), 1.0.19 – 1.0.25 | static GCM key (data2=2) |
| G1 | 1.2.0 – 1.4.5 | static GCM key (data2=2) |
| G1 | 1.5.1+ (latest) | per-device AES-128 key (data2=3) — see G1 ≥ 1.5.1 — AES-128 Key |
| Feature | Go2 | G1 |
|---|---|---|
| Data channel (pub/sub, RPC) | yes | yes |
| Sport / arm-action control | yes | yes |
| Video stream (receive) | yes | yes |
| Audio stream (send/receive) | yes | — |
| LiDAR point cloud decoding | yes | — |
| VUI (LED, brightness, volume) | yes | — |
| AudioHub (audio file management) | yes | — |
| Obstacle avoidance API | yes | — |
| Multicast device discovery | yes | — |
data2=3 per-device key auth |
— | yes (G1 ≥ 1.5.1) |
sudo apt update
sudo apt install -y python3-pip portaudio19-dev
pip install unitree_webrtc_connectsudo apt update
sudo apt install -y python3-pip portaudio19-dev
git clone https://github.com/legion1581/unitree_webrtc_connect.git
cd unitree_webrtc_connect
pip install -e .from unitree_webrtc_connect import UnitreeWebRTCConnection, WebRTCConnectionMethod
# Go2 / older G1 firmware — no extra auth needed
conn = UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalSTA, ip="192.168.123.18")
await conn.connect()
# G1 firmware ≥ 1.5.1 — per-device AES-128 key required for the LAN handshake
# (see "G1 ≥ 1.5.1 — AES-128 Key" below for how to fetch it)
conn = UnitreeWebRTCConnection(
WebRTCConnectionMethod.LocalSTA,
ip="192.168.10.225",
aes_128_key="<32-hex-chars>",
)
await conn.connect()Robot is in Access Point mode, client connects directly to the robot's WiFi.
UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalAP)
# G1 ≥ 1.5.1 in AP mode
UnitreeWebRTCConnection(
WebRTCConnectionMethod.LocalAP,
aes_128_key="<32-hex-chars>",
)Robot and client are on the same local network. Requires IP or serial number.
# By IP
UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalSTA, ip="192.168.8.181")
# By serial number (uses multicast discovery, Go2 only)
UnitreeWebRTCConnection(WebRTCConnectionMethod.LocalSTA, serialNumber="B42D2000XXXXXXXX")
# G1 ≥ 1.5.1 by IP, with per-device key
UnitreeWebRTCConnection(
WebRTCConnectionMethod.LocalSTA,
ip="192.168.10.225",
aes_128_key="<32-hex-chars>",
)Remote connection through Unitree's TURN server. Control your robot from a different network. Requires Unitree account credentials.
region and device_type pick the cloud endpoint and the AppName header — Go2 hits global-robot-api.unitree.com with AppName: Go2, G1 does the same host with AppName: G1. Use region="cn" for accounts registered in China.
# Go2 (default)
UnitreeWebRTCConnection(
WebRTCConnectionMethod.Remote,
serialNumber="B42D2000XXXXXXXX",
username="email@gmail.com",
password="pass",
)
# G1 in China region
UnitreeWebRTCConnection(
WebRTCConnectionMethod.Remote,
serialNumber="E21D6000PBF9ELG5",
username="email@gmail.com",
password="pass",
region="cn",
device_type="G1",
)Starting with G1 firmware 1.5.1, the LAN signaling handshake (con_notify) returns data2=3, which means the embedded RSA public key is wrapped under a per-device AES-128-GCM key. Without that key the WebRTC handshake can't decrypt the public key and the connection never starts. (Older firmware uses a static AES-GCM key — handled automatically.)
The key is per device, stable across re-pairings, stored on the robot at /unitree/etc/key/aes_key.bin (RSA-wrapped), and surfaced to the cloud as dev.key in device/bind/list.
After pip install unitree_webrtc_connect you get a console script:
# By default: region=global, device family=G1 — fits most users.
unitree-fetch-aes-key --email you@example.com --password '...'
# China region:
unitree-fetch-aes-key --email you@example.com --password '...' --region cn
# Single SN, scriptable (bare key on stdout):
unitree-fetch-aes-key --email you@example.com --sn E21D6000PBF9ELG5 --quiet
# Pre-existing access token (skip login):
unitree-fetch-aes-key --token <accessToken> --sn E21D6000PBF9ELG5Equivalent if you don't have it on $PATH:
python -m unitree_webrtc_connect._cli --helpThe interactive output is a labelled panel (SN / alias / online / region / key); --quiet swaps that for a bare key on stdout so you can pipe it:
KEY=$(unitree-fetch-aes-key --email ... --sn E21D... --quiet)from unitree_webrtc_connect import UnitreeCloud, fetch_aes_key
# One-shot lookup
key = fetch_aes_key("you@example.com", "...", sn="E21D6000PBF9ELG5",
region="global", device_type="G1")
# Or keep the cloud client around for other calls
cloud = UnitreeCloud(region="global", device_type="G1")
cloud.login_email("you@example.com", "...")
for d in cloud.list_devices():
print(d.sn, d.alias, d.key)When you supply the wrong / missing key, the SDK raises typed exceptions you can catch instead of relying on stack traces:
from unitree_webrtc_connect import (
AesKeyRequiredError, # data2=3 robot reached without a key
AesKeyRejectedError, # GCM tag check failed (wrong key)
LocalSignalingPortError, # neither :9991 nor :8081 reachable on the IP
RobotBusyError, # robot rejected — another WebRTC client is connected
NoSdpAnswerError, # signaling round-trip returned no SDP
DataChannelTimeoutError, # data channel didn't validate in time
)
try:
await conn.connect()
except AesKeyRejectedError as e:
...Examples are organized by robot model under the /examples directory:
| Category | Example | Description |
|---|---|---|
| Data Channel | data_channel/sportmode/ |
Sport mode movement commands |
data_channel/sportmodestate/ |
Subscribe to sport mode state | |
data_channel/lowstate/ |
Subscribe to low-level state (IMU, motors) | |
data_channel/multiplestate/ |
Subscribe to multiple state topics | |
data_channel/vui/ |
VUI control (LED, volume, brightness) | |
data_channel/lidar/lidar_stream.py |
LiDAR point cloud subscription | |
data_channel/lidar/plot_lidar_stream.py |
LiDAR 3D visualization (Three.js) | |
| Audio | audio/live_audio/ |
Live audio receive |
audio/save_audio/ |
Save audio to file | |
audio/mp3_player/ |
Play MP3 through robot speaker | |
audio/internet_radio/ |
Stream internet radio | |
| Video | video/camera_stream/ |
Display video stream |
| Category | Example | Description |
|---|---|---|
| Data Channel | data_channel/sport_mode/ |
Sport mode movement commands |
All public classes, helpers and exception types are exported from the package root:
from unitree_webrtc_connect import (
# Core driver
UnitreeWebRTCConnection,
WebRTCConnectionMethod,
WebRTCDataChannel,
WebRTCDataChannelPubSub,
DATA_CHANNEL_TYPE,
RTC_TOPIC,
SPORT_CMD,
# Cloud helpers (data2=3, account / TURN flow, bind list)
UnitreeCloud,
UnitreeCloudError,
RobotDevice,
fetch_aes_key,
# Typed errors
AesKeyRequiredError,
AesKeyRejectedError,
DataChannelTimeoutError,
LocalSignalingPortError,
NoSdpAnswerError,
RobotBusyError,
)A big thank you to TheRoboVerse community! Visit us at TheRoboVerse for more information and support.
Special thanks to the tfoldi WebRTC project and abizovnuralem for adding LiDAR support, MrRobotoW for the LiDAR visualization example, and Nico for the aiortc monkey patch.
If you like this project, please consider buying me a coffee:
