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Unitree Go2 — Getting Started

The Unitree Go2 is DimOS's primary reference platform. Full autonomous navigation, mapping, and agentic control — no ROS required.

Requirements

  • Unitree Go2 Pro or Air (stock firmware 1.1.7+, no jailbreak needed)
  • Ubuntu 22.04/24.04 with CUDA GPU (recommended), or macOS (experimental)
  • Python 3.12

Install

First, install system dependencies for your platform:

Then install DimOS:

uv venv --python "3.12"
source .venv/bin/activate
uv pip install 'dimos[base,unitree]'

Try It — No Hardware Needed

# Replay a recorded Go2 navigation session
# First run downloads ~2.4 GB of LiDAR/video data from LFS
dimos --replay run unitree-go2

Opens the command center at localhost:7779 with Rerun 3D visualization — watch the Go2 map and navigate an office in real time.

Run on Your Go2

Pre-flight checks

  1. Robot is reachable and low latency <10ms, 0% packet loss
ping $ROBOT_IP

  1. Built-in obstacle avoidance is on. (DimOS handles path planning, but the onboard obstacle avoidance provides an extra safety layer around tight spots)

  2. If video is not in sync with lidar/robot position, sync your clock with an NTP server

sudo ntpdate pool.ntp.org

or

sudo sntp -sS pool.ntp.org

Ready to run DimOS

export ROBOT_IP=<YOUR_GO2_IP>
dimos run unitree-go2

That's it. DimOS connects via WebRTC (no jailbreak required), starts the full navigation stack, and opens the command center in your browser.

What's Running

Module What It Does
GO2Connection WebRTC connection to the robot — streams LiDAR, video, odometry
VoxelGridMapper Builds a 3D voxel map using column-carving (CUDA accelerated)
CostMapper Converts 3D map → 2D costmap via terrain slope analysis
ReplanningAStarPlanner Continuous A* path planning with dynamic replanning
WavefrontFrontierExplorer Autonomous exploration of unmapped areas
RerunBridge 3D visualization in browser
WebsocketVis Command center at localhost:7779

Send Goals

From the command center (localhost:7779):

  • Click on the map to set navigation goals
  • Toggle autonomous exploration
  • Monitor robot pose, costmap, and planned path

MuJoCo Simulation

uv pip install 'dimos[base,unitree,sim]'
dimos --simulation run unitree-go2

Full navigation stack in MuJoCo — same code, simulated robot.

Agentic Control

Natural language control with an LLM agent that understands physical space:

export OPENAI_API_KEY=<YOUR_KEY>
export ROBOT_IP=<YOUR_GO2_IP>
dimos run unitree-go2-agentic

Then use the human CLI to talk to the agent:

humancli
> explore the space

The agent subscribes to camera, LiDAR, and spatial memory streams — it sees what the robot sees.

Available Blueprints

Blueprint Description
unitree-go2-basic Connection + visualization (no navigation)
unitree-go2 Full navigation stack
unitree-go2-agentic Navigation + LLM agent
unitree-go2-agentic-ollama Agent with local Ollama models
unitree-go2-agentic-mcp Agent with MCP tool access
unitree-go2-spatial Navigation + spatial memory
unitree-go2-detection Navigation + object detection
unitree-go2-ros ROS 2 bridge mode

Deep Dive