MetaSim

Table of Contents

Get Started

• Installation
  • Installation with Docker
  • IsaacLab Installation
  • IsaacGym Installation
  • PyRep Installation
  • PyBullet Installation
  • MuJoCo Installation
  • SAPIEN Installation
  • cuRobo Installation
  • Teleoperation
  • OpenUSD Installation
  • RL Installation
• Prepare Data
• Supported Simulators

User Guide

• Replay Trajectories
• Collect Demonstrations
• Render Settings
• Parallel Simulation
• RL
• Cross Embodiment
• Cross Simulator
• Teleoperate
• Tips for Users
  • Git Submodule for Users

Developer Guide

• Pre-commit Hooks
• Migrating New Tasks
  • From RoboSuite
  • From CALVIN
• Adding New Robots
• Supporting New Simulators
• Asset Conversion
• MetaSim for RL
• Unit testing
• Tips for Developers
  • HuggingFace for Developers
  • Git Submodule for Developers

Troubleshooting

• Docker
• IsaacLab Troubleshooting

Known Issues

• Unaligned Control