Chapter 10: Reproduction of RL Training for Heterogeneous Robots with UniLab + MotrixSim
bashpip install uv
export UV_DEFAULT_INDEX=https://pypi.tuna.tsinghua.edu.cn/simple
| Simulator |
Installation Command |
Supported Python Versions |
Recommended Python Version |
| MuJoCo |
uv pip install -e ".[mujoco]" |
3.9-3.13 |
3.10 |
| SAPIEN v2 |
uv pip install -e ".[sapien2]" |
3.7-3.11 |
3.10 |
| SAPIEN v3 |
uv pip install -e ".[sapien3]" |
3.8-3.12 |
3.10 |
| Genesis |
uv pip install -e ".[genesis]" |
3.10-3.12 |
3.10 |
| PyBullet |
uv pip install -e ".[pybullet]" |
3.6-3.11 |
3.10 |
| IsaacLab v1.4 |
See below |
3.10 |
3.10 |
| IsaacLab v2 |
See below |
3.10 |
3.10 |
| IsaacGym |
See below |
3.6-3.8 |
3.8 |
uv pip install -e ".[isaaclab2]"
cd third_party
git clone --depth 1 --branch v2.0.2 git@github.com:isaac-sim/IsaacLab.git IsaacLab2 && cd IsaacLab2
./isaaclab.sh -i
