Unitree G1 Master API

FastAPI server for controlling the Unitree G1 humanoid robot. Provides a web interface and REST endpoints for movement, gestures, and live camera feeds.

Quick Start

Start the local API:

uvicorn api:app --host 0.0.0.0 --port 8000

Make it publicly accessible with ngrok:

ngrok http 8000

Use the ngrok URL to access the control panel and API from anywhere.

---

Requirements

• Python 3.x
• Unitree SDK2 (unitree_sdk2py)
• FastAPI, uvicorn, opencv-python, numpy, pydantic

pip install fastapi uvicorn opencv-python numpy pydantic

API Endpoints

Method	Endpoint	Description
GET	/	Web control panel (index.html)
GET	/actions	List available standard actions
POST	/action/{action_id}	Trigger a standard action (3–11)
POST	/move_timed	Execute timed movement
GET	/video_feed/{camera_id}	MJPEG stream from camera 0 or 1

Standard Actions

ID	Action
3	move forward
4	move lateral
5	move rotate
9	wave hand1
10	wave hand2
11	shake hand

Timed Move (POST /move_timed)

{
  "direction": "forward|backward|left|right|turn_left|turn_right|stop",
  "duration": 1.5,
  "speed": 0.3
}

Project Structure

File	Description
api.py	FastAPI app, robot control, video streams
index.html	Web control panel UI
mock_api.py	Mock API for testing without robot