Shypd.aiThe largest open index of AI toolslegged_gym provides Isaac Gym environments for training legged robots to navigate challenging terrains. It includes components for sim-to-real transfer and supports various robot control algorithms.
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legged_gym offers Isaac Gym environments specifically designed for training legged robots to walk on rough terrain. This open-source repository provides all necessary components for successful sim-to-real transfer, including an actuator network, friction and mass randomization, noisy observations, and random pushes during training. It supports the development and testing of robust robot control algorithms, with a focus on real-world applicability. The platform allows users to define and train new environments, customize robot assets, and fine-tune training parameters. While the project has migrated to Isaac Lab for future updates, this repository remains a valuable resource for those working with Isaac Gym Preview 3.
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