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