- Setup your Dog — requirements, install, connecting to your Go2, and agentic control
- Simulation — try it with no hardware via replay or MuJoCo
- Mapping & Navigation — live nav, premap recording, and relocalization
Available Blueprints
| Blueprint | Description |
|---|---|
dimos run unitree-go2-basic | Connection + visualization (no navigation) |
dimos run unitree-go2 | Full navigation stack |
dimos run unitree-go2-agentic | Navigation + LLM agent + MCP tool access |
dimos run unitree-go2-agentic-ollama | Agent with local Ollama models |
dimos run unitree-go2-spatial | Navigation + spatial memory |
dimos run unitree-go2-detection | Navigation + object detection |
dimos run unitree-go2-memory | Navigation + record lidar/odom/color_image to .db |
dimos run unitree-go2-relocalization | Navigation + align live scans to a saved .pc2.lcm premap |
Deep Dive
- Navigation overview — live mapping vs premap relocalization
- Navigation stack — column-carving voxel mapping, costmap generation, A* planning
- Relocalization — record →
dimos map global --export→ replay or live deploy - Visualization — Rerun, performance tuning
- Data Streams — RxPY streams, backpressure, quality filtering
- Transports — LCM, SHM, DDS
- Blueprints — composing modules