Btw, for my last project I also ported Reachy 2 to Isaac Lab. It’s a bit approximate and the base is currently fixed, but you may find it useful if you’re working with Reachy 2 in simulation.
Repo: https://github.com/spiglerg/tavis
Asset pack (including Reachy 2’s usd files): https://huggingface.co/datasets/tavis-benchmark/tavis-assets