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 isaaclab

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 sapien

Pybullet

python get_started/0_static_scene.py  --sim pybullet

You will get the following image:

Isaac Lab	Isaac Gym	Mujoco

Genesis	Sapien	PyBullet