---

name: go2-omniverse description: "Guides Isaac Sim and IsaacLab workflows for Unitree Go2 and G1 simulation, ROS 2 telemetry, headless rendering, and the real-robot digital-twin bridge." disable-model-invocation: true metadata: disco-role: operating license: BSD 2-Clause

go2_omniverse

Use this skill when a task involves the Unitree Go2/G1 digital twins, Isaac Sim launchers, IsaacLab locomotion playback, simulated ROS 2 topics, headless hero captures, or the Jetson-to-simulation twinbot bridge.

Route the request

• Simulation startup, robot/terrain selection, checkpoints, rendering, or capture: read simulation-launch.
• Simulated topics, message types, QoS, TF/IMU conventions, camera, or LiDAR: read ros2-telemetry.
• Real Go2 /lowstate forwarding, DDS discovery, IMU alignment, or kinematic playback: read digital-twin.

For a request spanning routes, start with the launch route, then follow its cross-link to the telemetry or twinbot route. Read the deeper references only when the task needs exact flags, topic schemas, or failure recovery.

Install and stack gate

Use a vendor-supported Isaac Sim 5.0 Python 3.11 environment and install only the selected runtime components:

python -m pip install 'isaacsim[all,extscache]==5.0.0.0' \
  --extra-index-url https://pypi.nvidia.com
python -m pip install 'isaaclab==0.54.3'  # use an approved source when available
OMNI_KIT_ACCEPT_EULA=YES python -I -c 'import isaacsim; print("isaacsim import ok")'

The primary documented stack is Isaac Sim 5.0 with IsaacLab 0.54.3, Python 3.11, bundled Jazzy ROS 2, Fast DDS, and an NVIDIA GPU. The repository's required IsaacLab 0.54.3 distribution was not available during skill construction, so this skill is a partial draft: do not claim a successful repository boot, IsaacLab API inspection, or native CUDA launcher verification until that exact runtime is supplied and rechecked.

Do not source a host ROS 2 installation into the Isaac Sim Python process on the modern route. The launcher must use the Isaac-bundled ROS 2 libraries to avoid Python ABI and duplicate-typesupport failures. Do not start a real robot, alter DDS/network configuration, or send robot commands without explicit operator control.

Run the bundled read-only prerequisite check before attempting a launch:

python scripts/check_runtime_prereqs.py --isaac-venv "$ISAAC_VENV"

The check reports missing packages, GPU visibility, and expected environment variables; it does not launch Isaac Sim, download assets, or contact a robot.

Common launch shape

Use the launcher that matches the runtime rather than manually rebuilding its PYTHONPATH and LD_LIBRARY_PATH setup:

bash sub-skills/simulation-launch/scripts/launch_sim.sh \
  --project-root "$PWD" --isaac-venv "$ISAAC_VENV" \
  --robot go2 --robot-amount 1 --terrain flat --headless
bash sub-skills/simulation-launch/scripts/launch_sim.sh \
  --project-root "$PWD" --isaac-venv "$ISAAC_VENV" \
  --robot g1 --robot-amount 1 --headless

The bundled launcher adapter sets OMNI_KIT_ACCEPT_EULA, ROS_DISTRO, and RMW_IMPLEMENTATION, and accepts explicit --isaac-venv and --isaaclab-path values. It reproduces the repository launcher's bundled ROS library discovery without requiring the original launcher file. See the simulation route for capture, checkpoint, G1 asset, and Isaac 6/Humble details.

Operational boundaries

• This is an inference/playback and telemetry project, not a verified training recipe. Checkpoint files are external runtime inputs and are not bundled here.
• The modern path publishes standard ROS 2 messages and a Float32MultiArray foot-force topic; it does not publish the legacy go2_interfaces/Go2State message. See the telemetry route before writing consumers.
• Twinbot mode mirrors real state into the sim. It is not a claimed learned Sim-to-Real control loop and does not provide absolute real-dog position.
• Custom USD environments, VR, Nav2, mixed Humble/Jazzy networking, Isaac 6, and full camera/LiDAR runtime behavior are qualified or unverified paths.

Read references/troubleshooting.md for cross-cutting install/import, ABI, checkpoint, asset, and backend failures. Read references/repo-provenance.md before deciding whether this skill matches a newer checkout or needs refreshing.