Unitree GO2 Deploy

This repo is a Unitree GO2 Deployment which have been trained by IsaacLab.

We are supporting deployment in a Mujoco simulation and RealWorld.

1. Installation

Before installing this repo, you must install a unitree_mujoco.

cd IsaacLab ## going to your IsaacLab folder

git clone https://github.com/CAI23sbP/go2_deploy.git

cd go2_deploy && pip3 install -e .

2. How to use

export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6

export LD_LIBRARY_PATH=~/anaconda3/envs/env_isaaclab/lib:$LD_LIBRARY_PATH

3. Sim2Sim

3.1. Create parkour_demo env

python3 mujoco_deploy/mujoco_terrain_generator.py

3.2. Deploy mujoco

python3 scripts/go2_deploy --interface lo

Screencast.from.2025.09.08.19.33.34.online-video-cutter.com.mp4

4. TODO list

• Make Real-world deployment code

Acknowledgement

Thanks to their previous projects.

1. @machines-in-motion repo

2. @NVlabs repo

3. @eureka-research repo

4. @boston-dynamics repo

5. @itt-DLSLab repo

Citation

Copyright (c) 2025, Sangbaek Park

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software …

The use of this software in academic or scientific publications requires
explicit citation of the following repository:

https://github.com/CAI23sbP/go2_parkour_deploy

contact us

sbp0783@hanyang.ac.kr