Quick Start Tutorials#

This section provides step-by-step tutorials to help you get started with MetaSim. Each tutorial builds on previous concepts, guiding you from basic simulation setup to advanced features.

Learning Path#

We recommend following the tutorials in order for the best learning experience:

Beginner Level#

Tutorial	Description	Time
Guide	Overview and basic concepts	10 min
Static Scene	Load and visualize a simulation scene	15 min
Control Robot	Send commands to control robot joints	20 min
Add New Robot	Import and configure custom robots	30 min

Intermediate Level#

Tutorial	Description	Time
Parallel Environments	Run multiple environments simultaneously	20 min
Motion Planning	Plan collision-free robot trajectories	30 min
Hybrid Simulation	Combine different simulation backends	25 min
Advanced Rendering	Customize visual rendering options	20 min

Advanced Level#

Tutorial	Description	Time
Collect Demonstrations	Record expert demonstrations	25 min
Replay Demonstrations	Playback and analyze recordings	15 min
Configure Tasks	Create custom task configurations	30 min
Mount Camera	Attach cameras to robots and objects	20 min

Expert Level#

Tutorial	Description	Time
Domain Randomization	Randomize physics and visuals	30 min
Teleoperation	Control robots with external devices	25 min
Real Assets	Use real-world scanned assets	30 min
GS Background	Gaussian splatting backgrounds	25 min
EmbodiedGen Layout	Generate scene layouts automatically	30 min
Rerun Visualization	Advanced visualization with Rerun	20 min

Prerequisites#

Before starting, ensure you have:

Completed the installation process
Basic familiarity with Python and NumPy
(Optional) GPU with CUDA support for accelerated simulation

Tutorial Format#

Each tutorial follows a consistent structure:

Objective: What you’ll learn
Prerequisites: Required knowledge and setup
Step-by-Step Guide: Detailed instructions with code
Expected Output: What you should see
Next Steps: Where to go from here