Support Matrix#

This page provides an overview of the support for different simulators in MetaSim.

Supported Simulators#

There are 3 levels of supportance for each simulator:

  • Actively supported: isaaclab, isaacgym, mujoco, sapien3, genesis. These simulators should always be guaranteed to work on the main branch.

  • Inactively supported: pybullet, pyrep. These simulators won’t be actively supported. They will only be guaranteed to work when a major version is released. Note that sapien2 will be deprecated when sapien3 exits beta.

  • Experimental: mjx, blender. These simulators (renderers) are still in experimental stage and will be added to β€œactively supported” list in the future.

Supported Features#

The following tables show the configuration that can be set for each simulator. Empty cell means the parameter is not supported. βœ“ means the parameter is supported, and when not specified in the config file, the value read from the asset file or determined by the original simulator is used. Values in the table means the default value to be used when not specified in the config file.

Simulation Configuration#

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN3

PyBullet

dt

1/60

1/60

1/500

1/100

1/100

1/240

solver_type

βœ“

βœ“

env_spacing

βœ“

βœ“

Robot Configuration#

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN3

PyBullet

stiffness

βœ“

βœ“

βœ“

damping

βœ“

βœ“

βœ“

velocity_limit

βœ“

torque_limit

βœ“

fully_actuated

βœ“

βœ“

Physics Engine Configuration#

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN3

PyBullet

bounce_threshold_velocity

βœ“

βœ“

contact_offset

βœ“

friction_correlation_distance

βœ“

βœ“

friction_offset_threshold

βœ“

βœ“

num_position_iterations

βœ“

num_velocity_iterations

βœ“

rest_offset

βœ“

Resource Management Configuration#

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN3

PyBullet

num_threads

βœ“

Misc Configuration#

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN3

PyBullet

replace_cylinder_with_capsule

βœ“