====== ManiSkill/Sapien ====== Provides tactile simulation and visual-based policy training that is up to 100x faster than Isaac Sim.

- Incremental Complexity: Start simple and build up to more complex environments and tasks.

- Cross-Simulator Validation: Validate robot models across simulators (e.g., Isaac and MuJoCo) to ensure robustness.

Use Azure's A100 GPUs for Isaac training.

Capture real-world data to refine virtual training.

By understanding the nuances and strengths of each simulator, developers can refine their humanoid robots effectively. Using Isaac Sim, Isaac Gym, and complementary tools, a robust simulation approach ensures smooth virtual-to-physical transferability while reducing development time and costs.

Gradually transition to physical testing, beginning with simple tasks and moving to more complex interactions.