Cross-Simulator Support#

MetaSim enables you to write code once and run it across multiple physics simulators without modifications. This is one of the core features that makes RoboVerse a unified platform for robot learning.

Supported Simulators#

Simulator	Backend	GPU Parallel	Best Use Case
`mujoco`	MuJoCo	Via MJX	Fast prototyping, CPU training
`mjx`	MuJoCo MJX	Native	Massively parallel RL
`isaacsim`	Isaac Sim	Native	High-fidelity sim2real
`isaacgym`	Isaac Gym	Native	GPU-accelerated RL
`sapien3`	SAPIEN 3	Native	Manipulation research
`sapien2`	SAPIEN 2	-	Legacy support
`genesis`	Genesis	Native	Large-scale training
`pybullet`	PyBullet	-	Debugging, education

Basic Usage#

Switching Simulators#

Change the simulator by setting the simulator parameter in your scenario:

from metasim.scenario.scenario import ScenarioCfg

# Run with MuJoCo
scenario = ScenarioCfg(
    robots=["franka"],
    simulator="mujoco",  # Change this to switch simulators
    num_envs=1,
)

# Or switch to Isaac Sim
scenario = ScenarioCfg(
    robots=["franka"],
    simulator="isaacsim",
    num_envs=1,
)

Command Line Examples#

Most scripts support the --sim argument to select the simulator:

# Run with MuJoCo
python scripts/advanced/replay_demo.py --sim=mujoco --task=StackCube

# Run with Isaac Gym
python scripts/advanced/replay_demo.py --sim=isaacgym --task=StackCube

# Run with SAPIEN 3
python scripts/advanced/replay_demo.py --sim=sapien3 --task=PickCube

Considerations#

Feature Parity#

Not all features are available across all simulators. Check the Support Matrix for detailed compatibility information.