PyRoki Installation

MetaSim uses PyRoki for modular and scalable robotics kinematics optimization, including inverse kinematics.

Note

PyRoki requires Python 3.10 or higher. Python 3.12+ is recommended for best compatibility.

Installation

git clone https://github.com/chungmin99/pyroki.git
cd pyroki
pip install -e .

For Isaacsim, also need the following commands:

pip install numpy==1.26.0 # For Isaacsim
pip install jax==0.6.0 # For Isaacsim