Support Matrix#

This page provides a matrix of the support for different simulators in MetaSim.

Simulation Parameters#

The following table shows the parameters that can be set for the simulation in each simulator. ✓ means the parameter is supported. Empty cell means the parameter is not supported. Other values means the default value in the original simulator.

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN v3

PyBullet

dt

1/60

1/60

1/500

1/100

1/100

1/240

solver_type

✓

✓

Physics Engine Parameters#

The following table shows the parameters that can be set for the physics engine in each simulator.

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN v3

PyBullet

bounce_threshold_velocity

✓

✓

contact_offset

✓

friction_correlation_distance

✓

✓

friction_offset_threshold

✓

✓

num_position_iterations

✓

num_velocity_iterations

✓

rest_offset

✓

Resource Parameters#

The following table shows the parameters related to resource management in each simulator.

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN v3

PyBullet

num_threads

✓

Misc Parameters#

The following table shows the parameters that are not categorized in the above tables in each simulator.

Parameter

IsaacLab

IsaacGym

MuJoCo

Genesis

SAPIEN v3

PyBullet

replace_cylinder_with_capsule

✓