# 2. Add New Robot
We are all excited about humanoid, now lets add a humanoid robot to MetaSim.

## Common Usage

```bash
python get_started/2_add_new_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 add a new robot to MetaSim and it will automatically record a video.


### Examples

#### Isaac Lab
```bash
python get_started/2_add_new_robot.py  --sim isaaclab
```

#### Isaac Gym
```bash
python get_started/2_add_new_robot.py  --sim isaacgym
```

#### Mujoco
```bash
python get_started/2_add_new_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/2_add_new_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/2_add_new_robot.py  --sim sapien
```

#### Pybullet
```bash
python get_started/2_add_new_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/2_add_new_robot_isaaclab.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">Isaac Lab</p>
        </div>
        <div style="width: 32%; text-align: center;">
            <video width="100%" autoplay loop muted playsinline>
                <source src="https://roboverse.wiki/_static/standard_output/2_add_new_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/2_add_new_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/2_add_new_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/2_add_new_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/2_add_new_robot_pybullet.mp4" type="video/mp4">
            </video>
            <p style="margin-top: 5px;">PyBullet</p>
        </div>
    </div>
</div>