4. Motion Planning

In this tutorial, we will show you how to use MetaSim to plan a motion for a robot. Note here, we use the curobo package to plan the motion. If you haven’t installed it, please refer to our curobo installation guide.

Common Usage

python get_started/4_motion_planning.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.

By running the above command, you will plan a motion for a robot and it will automatically record a video.

Examples

IsaacLab

python get_started/4_motion_planning.py  --sim isaaclab

Isaac Gym

python get_started/4_motion_planning.py  --sim isaacgym

Mujoco

python get_started/4_motion_planning.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/4_motion_planning.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/4_motion_planning.py  --sim sapien

Pybullet

python get_started/4_motion_planning.py  --sim pybullet

You will get the following videos:

IsaacLab

Isaac Gym

Mujoco

Genesis

Sapien

PyBullet