docs(go2): add getting started guide

docs/platforms/quadruped/go2/index.md

@@ -1 +1,113 @@
-# GO2 Getting started
+# 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:
+- [Ubuntu](../../../installation/ubuntu.md)
+- [macOS](../../../installation/osx.md)
+- [Nix](../../../installation/nix.md)
+
+Then install DimOS:
+
+```bash
+uv venv --python "3.12"
+source .venv/bin/activate
+uv pip install dimos[base,unitree]
+```
+
+## Try It — No Hardware Needed
+
+```bash
+# 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](http://localhost:7779) with Rerun 3D visualization — watch the Go2 map and navigate an office in real time.
+
+## Run on Your Go2
+
+```bash
+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.
+
+> **Tip:** Keep the Unitree built-in obstacle avoidance enabled on the robot for now. DimOS handles path planning, but the onboard obstacle avoidance provides an extra safety layer.
+
+### 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](http://localhost:7779)):
+- Click on the map to set navigation goals
+- Toggle autonomous exploration
+- Monitor robot pose, costmap, and planned path
+
+## MuJoCo Simulation
+
+```bash
+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:
+
+```bash
+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:
+
+```bash
+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
+
+- [Navigation Stack](../../../capabilities/navigation/native/index.md) — column-carving voxel mapping, costmap generation, A* planning
+- [Visualization](../../../usage/visualization.md) — Rerun, Foxglove, performance tuning
+- [Data Streams](../../../usage/data_streams/) — RxPY streams, backpressure, quality filtering
+- [Transports](../../../usage/transports/index.md) — LCM, SHM, DDS
+- [Blueprints](../../../usage/blueprints.md) — composing modules