Update quadwheel/biped scripts

.history/README_20260121160713.md

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+# metamorphosis
+
+A minimalist implementation of morphology randomization in Isaac Sim. Can be used with or without IsaacLab.
+
+## TODO:
+
+- [x] Preliminary implementation.
+- [ ] `QuadrupedBuilder12Dof` and `QuadrupedBuilder16Dof`.
+- [ ] A minimal RL baseline.  
+
+## Instaillation
+
+Git clone and `pip install -e .`.
+
+## Example Usage
+
+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`!
+
+## Citation
+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}
+}
+```
+

.history/README_20260130152721.md

@@ -0,0 +1,39 @@
+# metamorphosis
+
+A minimalist implementation of morphology randomization in Isaac Sim. Can be used with or without IsaacLab.
+
+## TODO:
+
+- [x] Preliminary implementation.
+- [x] `QuadrupedBuilder12Dof` and `QuadrupedBuilder16Dof`.
+- [ ] A minimal RL baseline.  
+
+## Instaillation
+
+Git clone and `pip install -e .`.
+
+## Example Usage
+
+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`!
+
+## Citation
+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}
+}
+```
+

.history/README_20260130152909.md

@@ -0,0 +1,48 @@
+# metamorphosis
+
+A minimalist implementation of morphology randomization in Isaac Sim. Can be used with or without IsaacLab.
+
+## TODO:
+
+- [x] Preliminary implementation.
+- [x] `QuadrupedBuilder12Dof` and `QuadrupedBuilder16Dof`.
+- [ ] A minimal RL baseline.  
+
+## Instaillation
+
+Git clone and `pip install -e .`.
+
+## Morphology Randomization
+
+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.
+
+```python
+#QuadrupedBuilder12Dof
+
+#QuadrupedBuilder16Dof
+```
+
+
+
+
+
+**Important**
+
+Remember to set `replicate_physics=False` and `enabled_self_collisions=False`!
+
+## Citation
+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}
+}
+```
+

.history/README_20260130153042.md

@@ -0,0 +1,49 @@
+# metamorphosis
+
+A minimalist implementation of morphology randomization in Isaac Sim. Can be used with or without IsaacLab.
+
+## TODO:
+
+- [x] Preliminary implementation.
+- [x] `QuadrupedBuilder12Dof` and `QuadrupedBuilder16Dof`.
+- [ ] A minimal RL baseline.  
+
+## Instaillation
+
+Git clone and `pip install -e .`.
+
+## Morphology Randomization
+
+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.
+
+```python
+#QuadrupedBuilder12Dof
+
+
+#QuadrupedBuilder16Dof
+```
+
+
+
+
+
+**Important**
+
+Remember to set `replicate_physics=False` and `enabled_self_collisions=False`!
+
+## Citation
+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}
+}
+```
+

.history/README_20260130153232.md

@@ -0,0 +1,56 @@
+# metamorphosis
+
+A minimalist implementation of morphology randomization in Isaac Sim. Can be used with or without IsaacLab.
+
+## TODO:
+
+- [x] Preliminary implementation.
+- [x] `QuadrupedBuilder12Dof` and `QuadrupedBuilder16Dof`.
+- [ ] A minimal RL baseline.  
+
+## Instaillation
+
+Git clone and `pip install -e .`.
+
+## Setup
+
+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.
+
+
+## Generate Metamorphology
+
+```python
+#QuadrupedBuilder12Dof
+
+
+#QuadrupedBuilder16Dof
+
+#BipedBuilder
+
+
+```
+
+
+
+
+
+**Important**
+
+Remember to set `replicate_physics=False` and `enabled_self_collisions=False`!
+
+## Citation
+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}
+}
+```
+

.history/README_20260130175534.md

@@ -0,0 +1,57 @@
+# metamorphosis
+
+A minimalist implementation of morphology randomization in Isaac Sim. Can be used with or without IsaacLab.
+
+## TODO:
+
+- [x] Preliminary implementation.
+- [x] `QuadrupedBuilder12Dof` and `QuadrupedBuilder16Dof`.
+- [ ] A minimal RL baseline.  
+
+## Instaillation
+
+Git clone and `pip install -e .`.
+
+## Setup
+
+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.
+
+
+## Generate Metamorphology
+
+```python
+#QuadrupedBuilder12Dof
+python scripts/quadruped_scene.py
+
+#QuadrupedBuilder16Dof(quadwheel)
+python scripts/quawheel_scene.py
+
+#BipedBuilder
+
+
+```
+
+
+
+
+
+**Important**
+
+Remember to set `replicate_physics=False` and `enabled_self_collisions=False`!
+
+## Citation
+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}
+}
+```
+

.history/README_20260130175547.md

@@ -0,0 +1,57 @@
+# metamorphosis
+
+A minimalist implementation of morphology randomization in Isaac Sim. Can be used with or without IsaacLab.
+
+## TODO:
+
+- [x] Preliminary implementation.
+- [x] `QuadrupedBuilder12Dof` and `QuadrupedBuilder16Dof`.
+- [ ] A minimal RL baseline.  
+
+## Instaillation
+
+Git clone and `pip install -e .`.
+
+## Setup
+
+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.
+
+
+## Generate Metamorphology
+
+```python
+#QuadrupedBuilder12Dof
+python scripts/quadruped_scene.py
+
+#QuadrupedBuilder16Dof(quadwheel)
+python scripts/quawheel_scene.py
+
+#BipedBuilder
+python scripts/biped_scene.py
+
+```
+
+
+
+
+
+**Important**
+
+Remember to set `replicate_physics=False` and `enabled_self_collisions=False`!
+
+## Citation
+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}
+}
+```
+