Adding New Robots

Define a new robot in metasim/cfg/robots/{robot_name}_metacfg.py.

You can debug robot by applying random actions:

python metasim/scripts/random_action.py --sim=isaaclab --num_envs=4 --robot=franka

Another example for unitree h1 robot:

python metasim/scripts/random_action_pure.py --sim=isaaclab --num_envs=1 --robot=h1 --task=Walk

python metasim/scripts/random_action_pure.py --sim=mujoco --num_envs=1 --robot=h1 --task=Walk