Unitree GO1 supports two different development environment Gazebo and Webots, with which a virtual robot in the simulation can be programmed for testing in real world virtual evironments. Gazebo are simulated with a fake node and visualization tool RViz is used. The current implementation for Gazebo is working using the opensource CHAMP drivers.
Gazebo support different sensors like IMUs, lidars, cameras and many more. With these simulators and sensors autonomous navigation, slam and other functionalities can be tested.
In this instruction, Gazebo will be introduced which is most widely used among ROS developers.
Gazebo Tutorials: http://gazebosim.org/tutorials