Feature: go2 webrtc TwistBase adapter for control coordinator#1362

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mustafab0 wants to merge 24 commits intodevfrom

feature/mustafa-go2-webrtc-adapter-for-control-coordinator

Commits on Feb 24, 2026

updated coordinator to support twist messages
mustafab0
committed
fixed mypy type ignore flags
mustafab0
committed
fix mypy errors: portal import-untyped and adapter property override
mustafab0
committed
added echo cmd vel script back for testing will be deprecated
mustafab0
committed
go2 adapter for high level control

Nabla7
authored and
mustafab0
committed
added blueprint for keyboard teleop

Nabla7
authored and
mustafab0
committed
updated blueprint to have mujoco sim testing

Nabla7
authored and
mustafab0
committed
updated toml and added readme for unitree sdk setup

Nabla7
authored and
mustafab0
committed
add HardwareAdapter base protocol to eliminate type: ignore on adapter override
mustafab0
committed
fix velocities being read from command cache to use actual velocities reported by the go2
mustafab0
committed
removed teleop declaration
mustafab0
committed
refactor coordinator subscriptions into _subscribe_if with list-based cleanup
mustafab0
committed
removed subscription failure exception, now coordinator breaks when subscriptiuoin fails
mustafab0
committed
consolidated unitree setup into a single session to simplify checks connected hardware
mustafab0
committed
renamed unitree go2 adapter to be explicitly a twist base adapter
mustafab0
committed
updated readme to be a quickstart guide
mustafab0
committed
seperated dds requiremens from unitree group in toml
mustafab0
committed
deprecated cmd vel echo script
mustafab0
committed
fix mypy errors
mustafab0
committed
added balance stand mode for go2 to accept commands
mustafab0
committed
added webrtc adapter for go2
mustafab0
committed
webrtc teleop blueprint that works with coordinator controller
mustafab0
committed

Commits on Feb 25, 2026

Renamed the movement-stop method to stop_movement() to avoid duplication
mustafab0
committed
Replaced address="100.71.80.46" with address=os.getenv("ROBOT_IP", "192.168.12.1")
mustafab0
committed

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Feature: go2 webrtc TwistBase adapter for control coordinator#1362

Feature: go2 webrtc TwistBase adapter for control coordinator#1362
mustafab0 wants to merge 24 commits intodevfrom
feature/mustafa-go2-webrtc-adapter-for-control-coordinator

Commits on Feb 24, 2026

updated coordinator to support twist messages

fixed mypy type ignore flags

fix mypy errors: portal import-untyped and adapter property override

added echo cmd vel script back for testing will be deprecated

go2 adapter for high level control

added blueprint for keyboard teleop

updated blueprint to have mujoco sim testing

updated toml and added readme for unitree sdk setup

add HardwareAdapter base protocol to eliminate type: ignore on adapter override

fix velocities being read from command cache to use actual velocities reported by the go2

removed teleop declaration

refactor coordinator subscriptions into _subscribe_if with list-based cleanup

removed subscription failure exception, now coordinator breaks when subscriptiuoin fails

consolidated unitree setup into a single session to simplify checks connected hardware

renamed unitree go2 adapter to be explicitly a twist base adapter

updated readme to be a quickstart guide

seperated dds requiremens from unitree group in toml

deprecated cmd vel echo script

fix mypy errors

added balance stand mode for go2 to accept commands

added webrtc adapter for go2

webrtc teleop blueprint that works with coordinator controller

Commits on Feb 25, 2026

Renamed the movement-stop method to stop_movement() to avoid duplication

Replaced address="100.71.80.46" with address=os.getenv("ROBOT_IP", "192.168.12.1")