====== Legged Gym ======
A repository showcasing the state-of-the-art in legged robot training.
- ====== MuJoCo (MJX): ======Offers a lightweight open-source alternative, supporting maximal coordinate constraints and easier to work with.- ====== VSim: ======Claims to be 10x faster than other simulators.- ====== ManiSkill/Sapien: ====== Provides tactile simulation and visual-based policy training that is up to 100x faster than Isaac Sim.
== Best Practices for Virtual Testing ==
- Incorporate Real-World Fidelity: Include sensor noise and imperfections for better policy generalization.
- Optimize Resources:
- Use Azure's A100 GPUs for Isaac training. - Capture real-world data to refine virtual training.
