PyRoki Installation

MetaSim uses PyRoki for modular and scalable robotics kinematics optimization, including inverse kinematics.

Note

PyRoki requires Python 3.10 or higher. Python 3.12+ is recommended for best compatibility.

Installation

cd third_part
git clone https://github.com/chungmin99/pyroki.git
cd pyroki
pip install -e .
cd ../../
pip install jax==0.4.30 jaxlib==0.4.30

For Isaacsim

If you encounter a NumPy version mismatch between lsaacSim 5.0.0 and PyRoki, for example, an error TypeError: asarray() got an unexpected keyword argument 'copy', try running the following commands:

pip install numpy==1.26.0
pip install sentry-sdk==1.43.0 typing-extensions==4.12.2 websockets==12.0
pip install --upgrade websockets