Adding New Robots

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

You can debug robot by applying random actions:

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

Other examples for unitree h1 robot:

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

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

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