RoboVerse

MetaSim is a unified robotics simulation framework with diverse tasks and cross-simulator support.

• MetaSim
  • Installation
    • Installation with Docker
    • IsaacLab Installation
    • IsaacGym Installation
    • Genesis Installation
    • PyRep Installation
    • PyBullet Installation
    • MuJoCo Installation
    • SAPIEN Installation
    • Blender Installation
    • cuRobo Installation
    • Teleoperation
    • OpenUSD Installation
    • RL Installation
  • Prepare Data
  • Supported Simulators
  • Replay Trajectories
  • Collect Demonstrations
  • Render Settings
  • Parallel Simulation
  • RL
  • Cross Embodiment
  • Cross Simulator
  • Teleoperate
  • Tips for Users
    • Git Submodule for Users
  • Pre-commit Hooks
  • Migrating New Tasks
    • From RoboSuite
    • From CALVIN
  • Adding New Robots
  • Supporting New Simulators
  • Asset Conversion
  • MetaSim for RL
  • Docstrings
  • Unit testing
  • Tips for Developers
    • HuggingFace for Developers
    • Git Submodule for Developers
    • Git LFS
  • Docker
  • IsaacLab Troubleshooting
  • Unaligned Control
  • API Reference
    • metasim.cfg.objects
    • metasim.cfg.robots
      • metasim.cfg.robots.BaseRobotMetaCfg
      • metasim.cfg.robots.AntMetaCfg
      • metasim.cfg.robots.FetchMetaCfg
      • metasim.cfg.robots.FrankaMetaCfg
      • metasim.cfg.robots.FrankaSlideUrdfMetaCfg
      • metasim.cfg.robots.FrankaSlideUrdfSapienMetaCfg
      • metasim.cfg.robots.FrankaUrdfMetaCfg
      • metasim.cfg.robots.FrankaUrdfSapienMetaCfg
      • metasim.cfg.robots.FrankaWithGripperExtensionMetaCfg
      • metasim.cfg.robots.GoogleRobotStaticMetaCfg
      • metasim.cfg.robots.H12WithoutHandMetaCfg
      • metasim.cfg.robots.H1MetaCfg
      • metasim.cfg.robots.H1SimpleHandMetaCfg
      • metasim.cfg.robots.IiwaMetaCfg
      • metasim.cfg.robots.SawyerMetaCfg
      • metasim.cfg.robots.SawyerMujocoMetaCfg
      • metasim.cfg.robots.Ur5E2F85MetaCfg
      • metasim.cfg.robots.WalkerMetaCfg
    • metasim.cfg.cameras
    • metasim.cfg.checkers
    • metasim.cfg.tasks
    • metasim.cfg.scenes
    • metasim.cfg.render
    • metasim.cfg.randomization
    • metasim.sim
      • metasim.sim.isaaclab.IsaacLabHandler
      • metasim.sim.isaacgym.IsaacGymHandler
      • metasim.sim.mujoco.MujocoHandler
      • metasim.sim.pybullet.PybulletHandler
      • metasim.sim.sapien.SapienHandler
    • metasim.utils
    • metasim.scripts
• Dataset and Benchmark
  • Garment Support
  • Humanoid Support
  • Robots in RoboVerse
  • Objects in RoboVerse
  • Scenes in RoboVerse
  • Assets Converter
  • RoboVerse Benchmark
• RoboVerse Learn
  • Diffusion-Policy
  • OpenVLA
  • RDT
  • Octo
  • PPO
  • SAC
  • Dreamer
  • CNN_MLP
  • VQGAN_MLP
  • Diffusion Transformer