# 1. Control Robot
In this tutorial, we will show you how to use MetaSim to control a robot.

## Common Usage

```bash
python get_started/1_control_robot.py  --sim <simulator>
```
you can also render in the headless mode by adding `--headless` flag. By using this, there will be no window popping up and the rendering will also be faster.

By running the above command, you will give random control actions to the robot and it will automatically record a video.


### Examples

#### IsaacLab
```bash
python get_started/1_control_robot.py  --sim isaaclab
```

#### Isaac Gym
```bash
python get_started/1_control_robot.py  --sim isaacgym
```

#### Mujoco
```bash
python get_started/1_control_robot.py  --sim mujoco --headless
```
Note that we find the `non-headless` mode of Mujoco is not stable. So we recommend using the `headless` mode.

#### Genesis
```bash
python get_started/1_control_robot.py  --sim genesis
```
Note that we find the `headless` mode of Genesis is not stable. So we recommend using the `non-headless` mode.

#### Sapien
```bash
python get_started/1_control_robot.py  --sim sapien
```

#### Pybullet
```bash
python get_started/1_control_robot.py  --sim pybullet
```


You will get the following videos:

<div style="display: flex; flex-wrap: wrap; justify-content: space-between; gap: 10px;">
    <div style="display: flex; justify-content: space-between; width: 100%; margin-bottom: 20px;">
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/1_move_robot_isaaclab.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">IsaacLab</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/1_move_robot_isaacgym.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">Isaac Gym</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/1_move_robot_mujoco.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">MuJoCo</p>
        </div>
    </div>
    <div style="display: flex; justify-content: space-between; width: 100%;">
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/1_move_robot_genesis.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">Genesis</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/1_move_robot_sapien3.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">SAPIEN</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/1_move_robot_pybullet.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">PyBullet</p>
        </div>
    </div>
</div>