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Module 7: Simulation & Digital Twins

NVIDIA Isaac Sim, MuJoCo & Sim-to-Real

Duration: 6 hours · Level: Intermediate · Lessons: 3

Train G1's locomotion and manipulation policies in simulation before deployment. Build physics-accurate digital twins and master the sim-to-real transfer techniques that make it work.

Prerequisites​

Learning outcomes

By the end of this module you will be able to:

  • Set up a complete G1 simulation in Isaac Sim
  • Apply domain randomization for robust sim-to-real transfer
  • Train locomotion and manipulation policies at scale using Isaac Lab

Lessons in this module​

  1. 7.1 — The Simulation Stack: MuJoCo, Isaac Gym, and Isaac Lab · 50 min
  2. 7.2 — Domain Randomization: The Bridge from Sim to Real · 55 min
  3. 7.3 — Building a Physics-Accurate Digital Twin of G1 · 60 min

👉 Start here: 7.1 — The Simulation Stack: MuJoCo, Isaac Gym, and Isaac Lab