Public API Documentation

This section contains the public API documentation for users working with the Unitree Go2 robot.

Core

The entry point for all robot control.

• Go2 Controller
  • Go2Controller
• Hardware Support Types
  • HardwareType
• Module Management
  • ExecutionMode
  • ModuleType
  • ModuleRegistry

Default Modules

These modules are automatically available upon instantiating the controller.

• Movement Module
  • MovementModule
• Controller Input Module
  • InputModule
  • InputSignal
  • ControllerState

Optional Modules

These modules must be explicitly added using Go2Controller.add_module().

• Video Module
  • VideoModule
  • CameraSourceFactory
  • FrameStatus
  • FrameResult
  • MultiFrameResult
  • StreamConfig
• Audio Control Module
  • AudioModule
• LiDAR Control Module
  • LIDARModule
• OCR Module
  • OCRModule
  • OCRConfig

State Machine & Architecture

For building behavior using a state machine pattern.

• State Machine Approach
  • State Machine Approach for User Use
  • Go2StateAbstract

Simulator Scene Configuration

For adding elements to the Mujoco Simulator scene.

• Terrain Generation
  • GeometryType
  • TerrainGenerator
• Resource Management
  • ResourceError
  • ResourceManager

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