Simulating Go2 quadruped

Hi all, I have recently been tasked with simulating the Go2 quadruped on IsaacLab. So far, I haven't found any way to simulate the robot to understand the high-level commands a real robot could process and carry out.

Does anyone have experience with this, or know of a git repo that might have low-level to high-level translations I might be able to use to effectively emulate the high-level control?

I reached out to Unitree about this, and they said they weren't allowed to share the code as it is closed-source. Wasn't sure if anyone else has been able to recreate it from scratch.