Comment by hadlock

What is really interesting for me is that they're not using Nvidia's Issac, which is famously impossible to get up and running for a custom robot by individual contributors. I can't tell how good their system is, but the fact that I got it running on my laptop in under an hour, vs wasting over a week of my spare time on Issac (ref: countless reddit threads by hundreds of people also failing to train their robot on Issac) gives me confidence I can finally convert my terrible IK stuff on my robot, to use this other framework.

This appears to be using mjlab, which is is MuJoCo Warp plus rsl_rl, which uses a completely different design/technology heritage from Issac, so that's worth a lot to me, since I've basically sworn off Issac for robot gait training.