# Unitree Go2

- [Setup your Dog](setup.md): requirements, install, connecting to your Go2, and agentic control
- [Simulation](simulation.md): try it with no hardware via replay or MuJoCo
- [Mapping & Navigation](../../../capabilities/navigation/index.md): 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 --record run unitree-go2` | Navigation + record every stream to `recordings/<run-id>/memory.db` ([Recording](../../../usage/recording.md)) |
| `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](../../../capabilities/navigation/index.md): live mapping vs premap relocalization
- [Navigation stack](../../../capabilities/navigation/deep_dive.md): column-carving voxel mapping, costmap generation, A* planning
- [Relocalization](../../../capabilities/navigation/relocalization.md): record → `dimos map global --export` → replay or live deploy
- [Visualization](../../../usage/visualization.md): Rerun, performance tuning
- [Data Streams](../../../usage/data_streams/index.md): RxPY streams, backpressure, quality filtering
- [Transports](../../../usage/transports/index.md): LCM, SHM, DDS
- [Blueprints](../../../usage/blueprints.md): composing modules