Supported Simulators#
Here is an acrively maintained list of supported configuration features across different simulators. ✅ means fully supported, ❌ means not supported, *️⃣ means partially supported.
Features |
Pybullet |
Sapien |
Isaacgym |
Isaacsim |
Pyrep |
Mujoco |
|---|---|---|---|---|---|---|
RigidObj |
✅ |
✅ |
||||
RigidObj.fix_base_link |
✅ |
✅ |
||||
ArticulationObj |
✅ |
✅ |
||||
BaseRobot |
✅ |
✅ |
||||
BaseRobot.actuators.damping |
❌ |
✅ |
||||
BaseRobot.actuators.stiffness |
❌ |
✅ |
||||
BaseRobot.fix_base_link |
✅ |
✅ |
||||
BaseRobot.enabled_gravity |
❌ |
❌ |
||||
BaseRobot.enabled_self_collisions |
❌ |
❌ |
||||
PinholeCamera.data_types |
*️⃣ |
*️⃣ |
||||
PinholeCamera.focal_length |
❌ |
❌ |