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  • Dataset and Benchmark
  • RoboVerse Learn
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  • MetaSim
  • Dataset and Benchmark
  • RoboVerse Learn
  • GitHub
  • Website

Section Navigation

Installation

  • Prerequisites
  • Direct Installation
  • Installation with Docker
  • Advanced Installation
    • cuRobo 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

  • 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
    • metasim.cfg.objects
    • metasim.cfg.robots
    • metasim.cfg.sensors
    • metasim.cfg.checkers
    • metasim.cfg.tasks
    • metasim.cfg.scenes
    • metasim.cfg.render
    • metasim.cfg.randomization
    • metasim.sim
    • metasim.utils
    • metasim.scripts
  • MetaSim
  • Motion Planning

Motion Planning#

We provide tutorials for using motion planning in MetaSim:

  • 0. Franka Planning
  • 1. Object Grasping

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6. Advanced Rendering

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0. Franka Planning
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