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name: simulation-launch description: "Routes Go2 and G1 Isaac simulation startup, terrain and rendering options, checkpoint playback, and version-specific launcher troubleshooting." disable-model-invocation: true metadata: disco-role: operating license: BSD 2-Clause

Simulation launch

Use this route for Go2/G1 startup, --headless, rendering/capture, terrain, robot count, checkpoint discovery, G1 asset setup, or Isaac version selection.

Select the launcher

1. Use the bundled scripts/launch_sim.sh adapter for the modern Isaac Sim 5
   • bundled Jazzy route; pass --robot go2 or --robot g1.
2. Use --twinbot on that adapter only after reading the digital-twin route and confirming the external bridge topics.
3. Use --ros-distro humble only when an Isaac Sim 6 / IsaacLab 4.5.22 / bundled Humble installation is already available; this compatibility route is documented but not verified by this skill.

Do not source host /opt/ros/jazzy into the modern Isaac Python process. Let the launcher select the bundled ROS extension and set its library paths.

Minimal workflow

• Run scripts/check_runtime_prereqs.py first; it is read-only.
• Use scripts/launch_sim.sh as the bundled launcher adapter. It requires an explicit --project-root containing the runtime application and never sources host ROS.
• Confirm a compatible NVIDIA driver/GPU, the exact Isaac Sim/IsaacLab versions, the policy checkpoint, and the G1 USD when using G1.
• Start with one robot, flat terrain, and --headless; add rough terrain, cameras, capture, or multiple robots one change at a time.
• Treat all imports complete, gym.make: done, ROS2 publishers up, and entering main loop as useful progress signals, not as proof of stable long-running behavior.

See references/launchers.md for flag combinations, references/simulation-api.md for source-backed configuration facts, and references/troubleshooting.md for failure recovery. Version comparisons are in references/compatibility.md.

Verification limitation

The repository requires IsaacLab 0.54.3, which was unavailable during skill construction. CUDA and Isaac Sim package smoke checks passed, but this route must not claim a successful repository boot or live IsaacLab API verification. The first full-runtime check after obtaining the matching package should be a bounded Go2 flat/headless launch before G1, capture, or twinbot.