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.
Built with TypeScript, Three.js, and Vite.
| Family | Firmware |
|---|---|
| Go2 | 1.0.19 – 1.0.25, 1.1.1 – 1.1.15 (latest) |
| G1 | 1.2.0 – 1.4.5, 1.5.1+ (latest) |
| R1 | 1.4.2 (latest) |
R1 shares the humanoid control channel with G1, so it inherits the same modes,
arm gestures, status panels and e-stop. Its own FSM state ids differ — Run rides
on 811 (AmpMotion22Dof) rather than 801, and it adds the dance / martial-arts
set — all catalogued in R1 Action List.
git clone https://github.com/legion1581/unitree_ui.git
cd unitree_ui
npm install
npm run start # Vite + Python BLE server together
# or:
npm run start:no-ble # Vite only, no Bluetooth featuresnpm 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).
If you want Vite by itself (no BLE backend), npm run dev is localhost-only; npm run dev:host is the LAN-exposed equivalent.
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.
For a production build:
npm run build && npm run preview- Node.js ≥ 18, npm ≥ 9
- Chrome (Firefox is experimental, Safari untested)
- A Unitree Go2, G1, or R1 robot
- Real-time 3D viewport — robot model with live joint angles, lidar spinning animation, voxel point cloud (Go2 SLAM).
- 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.
- 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).
- Robot status — battery, motors (temp / position / torque / lost packets), IMU, LiDAR, system info — family-aware fields for Go2 and for the G1 / R1 humanoids.
- 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.
- Service manager — list MCF services, start / stop with protection handling.
- Account manager — Unitree cloud account: devices, firmware, tutorials, sharing, raw debug API console.
- 3D LiDAR Mapping (SLAM) — Go2 only: build maps, localize, navigate, patrol, auto-dock and charge; local IndexedDB cache + zip import/export.
- 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.
- BLE remote relay — pair a Unitree BLE remote, forward joystick + buttons to the robot over WebRTC.
- Dark / light theme — floating toggle, persisted per-browser; the 3D scene adapts on the fly.
- Connection modes — Local Network (STA-L), Access Point (AP), Remote (TURN through Unitree cloud).
- Network scanner — UDP multicast auto-discovery, including SN-targeted scan for V3-capable firmware (G1 ≥ 1.5.1, Go2 ≥ 1.1.15).
| Topic | What's covered |
|---|---|
| Connection | 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) |
| Control View | Joysticks, action bar, modes, sport command IDs, BLE remote relay |
| R1 Action List | R1 FSM state table (fsm_id), SetFsmId api, dances / Kung Fu / Jeet Kune Do |
| Robot Status | Battery / motor / IMU / system panels for every family |
| Error Handling | Fault wire protocol, Go2 + G1 source/code catalog, badge / popover / page UI |
| Service Manager | MCF service list, protection flag, start/stop |
| Account Manager | Cloud sign-in, devices, tutorials, debug console |
| Bluetooth | Robot provisioning + remote pairing overview |
| Bluetooth V1/V2 protocol | GATT layout for legacy firmware (Go2 < 1.1.15, G1 < 1.5.1) |
| Bluetooth V3 protocol | Magic-prefix + GCM key exchange (G1 ≥ 1.5.1, Go2 ≥ 1.1.15) |
| BLE Remote Control | Frame layout, axes/buttons mapping, WebRTC relay |
| SLAM | Mapping → Localization → Navigation flow, patrol, auto-dock |
| LiDAR | Point cloud decoding pipeline |
src/
api/ # Unitree cloud API client (account, devices, firmware, …)
connection/ # WebRTC, local/remote connectors, network scanner
crypto/ # AES-ECB, RSA, AES-GCM for auth and SDP exchange
protocol/ # Data channel handler, topics, sport commands
ui/
components/ # Action bar, PIP camera, status/services/account pages, nav bar
scene/ # Three.js scene, robot model, voxel map
proxy-plugin.ts # Vite plugin: robot proxy, scanner, cloud API, BLE API proxy
public/
icons/ # Action and mode SVG icons
sprites/ # UI sprites and backgrounds
models/ # Go2.glb 3D model (the humanoids use the camera view)
server/
ble_server.py # FastAPI BLE backend (scan, connect, WiFi config)
scanner.mjs # Standalone UDP multicast scanner (optional)
Big thanks to the RoboLegion community.
If you like this project, please consider buying me a coffee:
MIT