We are using MuJoCo to train a G1 humanoid robot right now. The best thing is that we do not need to fight with NVIDIA software and that it runs on macOS.
The physics engine I'm using is called MuJoCo. And if you're wondering why I didn't write my own physics engine, it's basically because I don't have 20 years.
PS: I just finished a first draft for agentic skills around working with MuJoCo in Python. Feel free to check them out here: https://github.com/prathje/agentic_mujoco_skills
The physics engine I'm using is called MuJoCo. And if you're wondering why I didn't write my own physics engine, it's basically because I don't have 20 years.