MetaSim

Table of Contents

Installation

• Prerequisites
• Direct Installation
• Installation with Docker
• Advanced Installation
  • cuRobo Installation
  • MJX Installation
  • Blender Installation
  • PyRep Installation
  • GSNet Installation

Getting Started

• Quick Start
  • 0. Static Scene
  • 1. Control Robot
  • 2. Add New Robot
  • 3. Parallel Envs
  • 4. Motion Planning
  • 5. Hybrid Sim
  • 6. Advanced Rendering
• Motion Planning
  • 0. Franka Planning
  • 1. Object Grasping
• Reinforcement Learning
  • 0. PPO Reaching

User Guide

• Support Matrix
• Replay Trajectories
• Collect Demonstrations
• Render Settings
• Parallel Simulation
• Cross Embodiment
• Cross Simulator
• Teleoperate
• Real2Sim
• Store Data Locally
• Tips for Users
  • Git Submodule for Users

Developer Guide

• Pre-commit Hooks
• State
• Migrating New Tasks
  • From RoboSuite
  • From CALVIN
• Adding New Robots
• Supporting New Simulators
• Asset Conversion
• Docstrings
• Tips for Developers
  • HuggingFace for Developers
  • Git Submodule for Developers
  • Git LFS

Troubleshooting

• Common Troubleshooting
• Docker
• IsaacLab Troubleshooting

Known Issues

• Unaligned Control

API Reference

• API Reference