A minimalist implementation of morphology randomization in Isaac Sim. Can be used with or without IsaacLab.

• Preliminary implementation.
• QuadrupedBuilder12Dof and QuadrupedBuilder16Dof.
• A minimal RL baseline.

Git clone and pip install -e ..

See scripts/.

Note that running independently (without IsaacLab) would require installing Open-USD via pip install usd-core. However, IsaacSim uses a custom USD build and is incompatible with the one installed via pip. If you experience IsaacSim errors after pip install usd-core, uninstall it.

Important

Remember to set replicate_physics=False and enabled_self_collisions=False!

If you use this codebase in your research, please cite:

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