Cross Simulator#

Basic usage#

By default, the simulator is set to isaaclab. You can change it to other simulators by setting the sim argument. Currently, we support:

  • isaaclab

  • isaacgym

  • pyrep

IsaacGym example#

For example, to replay the demo in IsaacGym, you can run:

python metasim/scripts/replay_demo.py --sim=isaacgym --task=StackCube

task could also be:

  • PickCube

  • StackCube

  • CloseBox