5. Hybrid Sim

In this tutorial, we will show you how to use MetaSim to simulate a hybrid system.

Common Usage

python get_started/5_hybrid_sim.py  --sim <simulator> --renderer <renderer>

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 simulate a hybrid system and it will automatically record a video. Here we demonstrate how to use one simulator for physics simulation and another simulator for rendering.

Examples

IsaacLab + Mujoco

python get_started/5_hybrid_sim.py  --sim mujoco --renderer isaaclab

You will get the following videos:

Mujoco as physics engine & IsaacLab as renderer

This hybrid simulation approach allows us to leverage the best of both worlds - the accurate physics simulation from Mujoco combined with the high-quality rendering capabilities of IsaacLab. This powerful combination enables both efficient physics computations and visually appealing results.