Skip to main content

Simulation

This page outlines the various simulation frameworks that you can use to get started on training your own locomotion policies.

Prerequisites​

  • Laptop or Desktop with a sufficient GPU or access to cloud GPUs like Runpod or Lambda

Overview​

We currently support 3 main simulation workflows.

K-Sim​

K-Sim is built upon Mujoco's MJX simulator

IsaacLab​

We are currently supporting IsaacSim 5.0. See our reference repository.

IsaacGym​

We currently support IsaacGym because many reference implementations for the Unitree G1 are written for IsaacGym and are being ported over to IsaacLab by the IsaacLab team at Nvidia