Unitree Go2 (Go2Py GO2Real) — device market

Install

Three ways to run this device. Each one serves its fake backend: no instrument, no simulator install and no upstream checkout.

OpenAI4S (one command)

shell

openai4s lab add robots/machines-in-motion__go2py

Installs the device into the OpenAI4S Lab on its fake backend and starts it. First time? See setup below.

Or, in the workbench, open the Lab tab → Market → Install.

Standalone MHS endpoint

shell

git clone --depth 1 https://github.com/PKU-YuanGroup/OpenMHS.git && cd OpenMHS
PYTHONPATH=MHS/sdk/src python3 -m mhs serve robots/machines-in-motion__go2py --port 7400
# in a second terminal, from the same directory:
PYTHONPATH=MHS/sdk/src python3 -m mhs describe --endpoint http://127.0.0.1:7400

Serves the device as an MHS endpoint on port 7400 from an OpenMHS clone (Python 3.10 or later, standard library only); describe prints what it offers.

Any MCP host (Claude Desktop, Cursor, …)

mcp configuration

{
  "mcpServers": {
    "go2py": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/machines-in-motion__go2py",
        "--mcp"
      ],
      "env": {
        "PYTHONPATH": "/path/to/OpenMHS/MHS/sdk/src"
      }
    }
  }
}

Add this server to the host's MCP configuration and replace /path/to/OpenMHS with the path of your OpenMHS clone. The host starts the server and talks to it on stdin and stdout.

What it does

Measures

joint_positions
joint_velocities
joint_torques
motor_temperatures
imu_acceleration
imu_angular_velocity
imu_orientation
imu_temperature
foot_contact_forces
battery_soc

Adjusts

Nothing declared.

Actions

stop_motion: Stop all motion on the resource with a declared deceleration profile and report the stopping position. This capability is always cancellable=false and is exempt from rate limiting.
drive: Command forward, lateral and yaw velocity through setCommandsHigh; the command stays in effect until another command or the stop action, because the clone documents no expiry
command_joints: Command 12 joint angles and 12 feedforward torques through setCommandsLow, with zero desired velocity and the upstream FSM's tracking gains kp 150 and kd 3; the target is sent at once, with no ramp from the current pose

Names as the driver declares them. Units, limits and the safety declaration are in the package's REFERENCE.md.

First-time setup

The OpenAI4S workbench with the OpenMHS lab, from a source checkout:

shell

# OpenAI4S workbench with the OpenMHS lab (source checkout)
git clone --recursive https://github.com/PKU-YuanGroup/OpenAI4S.git
cd OpenAI4S && ./setup.sh && source .venv/bin/activate
openai4s lab add robots/machines-in-motion__go2py
openai4s serve        # open the Lab tab

The standalone endpoint and the MCP server need only an OpenMHS clone and Python 3.10 or later. More in the market's getting-started guide and on the OpenAI4S host page.

Source and evidence

Upstream: machines-in-motion/go2py
Pinned commit: eff240b82b0f
Licence: MIT
Stars: 71
Evidence: contract_checked on the fake backend
Backends: fake, hardware

The driver package MHS/drivers/robots/machines-in-motion__go2py wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.