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🦋 metamorphosis - Simple Morphology Randomization for Everyone

🔗 Download

🚀 Getting Started

Welcome to the metamorphosis project! This application offers a simple way to explore and use morphology randomization in Isaac Sim. Whether you are a beginner or have some experience, this guide will help you set up and run the application without technical fuss.

📥 Download & Install

1. Visit the Releases Page: Go to the following link to download the application.
   Download metamorphosis

2. Choose the Right File: Look for the latest version. You will find executable files for your operating system. Download the file that matches your computer.

3. Install the Application:
   • For Windows: Double-click the downloaded .exe file and follow the on-screen instructions.
   • For Mac: Open the downloaded .dmg file and drag the application into your Applications folder.
4. Dependencies: If you want to run the application without IsaacLab, you will need to install Open-USD. You can do this using the terminal or command prompt by running the following command:

   pip install usd-core
   

   Important: IsaacSim uses a custom USD build. If you experience errors after running the above command, please uninstall it.

🔍 Usage

With the application installed, you can start using it.

1. Navigate to Example Scripts: The application includes example scripts found in the scripts/ folder. These scripts demonstrate how to use the application.

2. Running the Application: Open your terminal or command prompt, navigate to the application’s directory, and execute the main script.

3. Configuration Settings:

   • Before running, make sure to set the following options in your configuration:
     • replicate_physics=False
     • enabled_self_collisions=False These settings help the application run smoothly.

📝 Features

• Morphology Randomization: This feature allows you to easily modify the shapes and sizes of objects.
• Compatibility: Works with both IsaacSim and as a standalone tool.
• User-Friendly Scripts: Pre-written example scripts make it easy to get started.

🔧 Troubleshooting

If you run into any issues:

• Installation Errors: Ensure you have downloaded the correct version for your operating system.
• Run-Time Errors: Double-check your configuration settings. Misconfiguration can lead to crashes or unexpected behavior.

📚 Citation

If you use this application in your research, please follow this citation format:

@misc{metamorphosis2026,
  title={Metamorphosis: A Framework for Procedural Asset Generation in Isaac Sim},
  author={Botian Xu},
  year={2026},
  url={https://github.com/btx0424/metamorphosis}
}

📄 Additional Resources

For further information on using the application or if you encounter problems, please consult the following resources:

1. Documentation: Check for any documentation provided in the repository for detailed explanations.
2. Community Support: Join community forums for user discussions and solutions.
3. Report Issues: For any bugs or issues, feel free to report them on the repository’s issue tracker.

Thank you for using metamorphosis! We hope this application enhances your work with Isaac Sim.