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name: simulation-environment description: "User-facing Go1 Isaac Gym environment and configuration guidance: Cfg and config_go1 setup, terrain, observations and history, reward scales, domain randomization, assets, installation and backend diagnosis, and safe static validation." disable-model-invocation: true metadata: disco-role: operating license: NOASSERTION

Simulation Environment

Use this sub-skill when the user needs static/API/configuration help for the Go1 Isaac Gym environment: choosing and validating Cfg fields, applying config_go1, understanding terrain and observation construction, checking reward and domain-randomization surfaces, locating assets, or diagnosing installation and backend prerequisites.

Operating boundary

• This is a static, API, configuration, and prerequisite-diagnosis skill. Isaac Gym Preview 4 is absent in the construction environment, so do not launch simulation, training, playback, rendering, or native environment construction here.
• A successful PyTorch import or torch.cuda.is_available() result is not evidence that Isaac Gym or the simulator runtime works.
• Treat source evidence as already distilled into the bundled references. Do not tell future agents to open original repository files.
• Route PPO/training/checkpoints to training-and-policy, actuator fitting or actuator-network behavior to actuator-network, and physical Go1 operation or hardware safety to robot-deployment.

Procedure

1. Read configuration.md for the effective Go1 defaults, field names, configuration order, dimensions, and known static mismatches before suggesting edits.
2. Read api-reference.md before describing constructors, wrapper behavior, or return values. Every API claim there is marked Isaac Gym-required and must not be presented as host-verified.
3. Read runtime-prerequisites.md for installation facts, the separation between PyTorch and Isaac Gym, and the limits of this host. Use check_runtime.py for a read-only diagnostic when a repository root is available.
4. Use validate_config.py to validate a JSON configuration summary or the bundled documented Go1 static defaults. It never imports Isaac Gym and is suitable for CI or a machine without the simulator.
5. Use troubleshooting.md to classify a failure before changing configuration. Keep missing optional dependencies and unverified backend behavior explicit.

Bundled files

• Configuration reference
• API reference
• Runtime prerequisites
• Troubleshooting guide
• Static configuration validator
• Read-only runtime diagnostic

Handoff limit

The generated scope is static/API/configuration and prerequisite diagnosis pending Isaac Gym. It does not certify simulator execution, CUDA PhysX behavior, training quality, playback, checkpoints, actuator fitting, or robot hardware deployment.