intro

This lib just does a webrtc handshake with unitree go2 using the new method

Can connect directly to LocalSTA or AP mode robots on the same network.

I assume that over-the-net unitree signaling server usage can be implemented easily but I'm working with region locked robot so can't work on this.

this repo is using the new auth method, wrote the js referring to legion1581 py repo

details

• switched to nodejs from deno in order to support @roamhq/wrtc bindings.

• Other DIY webrtc implementations haven't worked, I tried node-datachannel, @cubicleai/wrtc and webrtc-polyfil

• deno.json exist in the project only because deno lsp server is good

• node-forge for PKCS1-V1_5 RSA

• pure ts ECB AES implementation pulled out of aes-cross package. (had to modify it to remove window. references)

running

git checkout git@github.com:leshy/node-unitree-webrtc.git
cd node-unitree-webrtc
npm install
npm run test 192.168... # robot ip

tnx

for awesome help from

tfoldi

legion1581