MUJOCO or Isaac Gym

[ucacaxm]

Hi,

Thank you for your code.

How to chose between Mujoco and IsaacGym ?
IsaacGym seems faster because of parallelization ?

Is it easy to switch between one to another ?

Thank you,
Best

[ZhengyiLuo]

Hi! It's not that easy to switch in between, though efforts can be made early on to make the codebase compatible with both.

IsaacGym has faster training time out of the box due to GPU acceleration. For the SMPL humanoid I haven't made modifications to support MJX yet, but it is definitely possible. It really comes down to what existing method/code base you would like to try out. Hope this helps.