MetaSim

Table of Contents

Get Started

• Prerequisites
• Direct Installation
• Installation with Docker
• Advanced Installation
  • cuRobo Installation
  • Blender Installation
  • PyRep Installation
• Prepare Data (Deprecated)
• Supported Simulators (Deprecated)
• Quick Start
  • 0. Static Scene
  • 1. Control Robot
  • 2. Add New Robot
  • 3. Parallel Envs
  • 4. Motion Planning
  • 5. Hybrid Sim
  • 6. Advanced Rendering

User Guide

• Replay Trajectories
• Collect Demonstrations
• Render Settings
• Parallel Simulation
• Cross Embodiment
• Cross Simulator
• Teleoperate
• Tips for Users
  • Git Submodule for Users

Developer Guide

• Pre-commit Hooks
• Migrating New Tasks
  • From RoboSuite
  • From CALVIN
• Adding New Robots
• Supporting New Simulators
• Asset Conversion
• Docstrings
• Unit testing
• Tips for Developers
  • HuggingFace for Developers
  • Git Submodule for Developers
  • Git LFS
• History (Deprecated)
  • IsaacLab Installation
  • IsaacGym Installation
  • Genesis Installation
  • PyBullet Installation
  • MuJoCo Installation
  • SAPIEN Installation
  • OpenUSD Installation

Troubleshooting

• Docker
• IsaacLab Troubleshooting

Known Issues

• Unaligned Control

API Reference

• API Reference