0. Static Scene

In this tutorial, we will show you how to use MetaSim to simulate a static scene.

Common Usage

python get_started/0_static_scene.py  --sim <simulator>

you can also render in the headless mode by adding --headless flag. By using this, there will be no window popping up and the rendering will also be faster.

Examples

Isaac Lab

python get_started/0_static_scene.py  --sim isaacsim

/isaacsim

Isaac Gym

python get_started/0_static_scene.py  --sim isaacgym

Mujoco

python get_started/0_static_scene.py  --sim mujoco --headless

Note that we find the non-headless mode of Mujoco is not stable. So we recommend using the headless mode.

Genesis

python get_started/0_static_scene.py  --sim genesis

Note that we find the headless mode of Genesis is not stable. So we recommend using the non-headless mode.

Sapien

python get_started/0_static_scene.py  --sim sapien3

Pybullet

python get_started/0_static_scene.py  --sim pybullet

You will get the following image:

Isaac Lab	Isaac Gym	Mujoco

Genesis	Sapien	PyBullet

Code Highlights

Object Configuration: Objects are added to scenario.objects with different types:

• PrimitiveCubeCfg / PrimitiveSphereCfg: Simple geometric objects

• RigidObjCfg: Static objects with physics properties

• ArticulationObjCfg: Objects with joints (like the box_base)

Initial State Setup: Use handler.set_states() to position objects:

init_states = [{
    "objects": {
        "cube": {"pos": torch.tensor([0.3, -0.2, 0.05]), "rot": torch.tensor([1.0, 0.0, 0.0, 0.0])},
        "sphere": {"pos": torch.tensor([0.4, -0.6, 0.05]), "rot": torch.tensor([1.0, 0.0, 0.0, 0.0])},
    }
}]