| Showroom Demos |
| ============== |
|
|
| The main core interface extension in Isaac Lab ``isaaclab`` provides |
| the main modules for actuators, objects, robots and sensors. We provide |
| a list of demo scripts and tutorials. These showcase how to use the provided |
| interfaces within a code in a minimal way. |
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|
| A few quick showroom scripts to run and checkout: |
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| - Spawn different arms and apply random joint position commands: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/arms.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\arms.py |
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| .. image:: ../_static/demos/arms.jpg |
| :width: 100% |
| :alt: Arms in Isaac Lab |
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|
| - Spawn different biped robots: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/bipeds.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\bipeds.py |
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| .. image:: ../_static/demos/bipeds.jpg |
| :width: 100% |
| :alt: Biped robots in Isaac Lab |
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|
| - Spawn different deformable (soft) bodies and let them fall from a height: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/deformables.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\deformables.py |
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| .. image:: ../_static/demos/deformables.jpg |
| :width: 100% |
| :alt: Deformable primitive-shaped objects in Isaac Lab |
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|
| - Interactive inference of trained H1 rough terrain locomotion policy: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/h1_locomotion.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\h1_locomotion.py |
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| .. image:: ../_static/demos/h1_locomotion.jpg |
| :width: 100% |
| :alt: H1 locomotion in Isaac Lab |
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| This is an interactive demo that can be run using the mouse and keyboard. |
| To enter third-person perspective, click on a humanoid character in the scene. |
| Once entered into third-person view, the humanoid can be controlled by keyboard using: |
|
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| * ``UP``: go forward |
| * ``LEFT``: turn left |
| * ``RIGHT``: turn right |
| * ``DOWN``: stop |
| * ``C``: switch between third-person and perspective views |
| * ``ESC``: exit current third-person view |
|
|
| If a misclick happens outside of the humanoid bodies when selecting a humanoid, |
| a message is printed to console indicating the error, such as |
| ``The selected prim was not a H1 robot`` or |
| ``Multiple prims are selected. Please only select one!``. |
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|
| - Spawn different hands and command them to open and close: |
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|
| .. tab-set:: |
| :sync-group: os |
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|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/hands.py |
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|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\hands.py |
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| .. image:: ../_static/demos/hands.jpg |
| :width: 100% |
| :alt: Dexterous hands in Isaac Lab |
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|
| - Define multiple markers that are useful for visualizations: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/markers.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\markers.py |
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| .. image:: ../_static/demos/markers.jpg |
| :width: 100% |
| :alt: Markers in Isaac Lab |
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|
| - Use the interactive scene and spawn varying assets in individual environments: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/multi_asset.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\multi_asset.py |
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| .. image:: ../_static/demos/multi_asset.jpg |
| :width: 100% |
| :alt: Multiple assets managed through the same simulation handles |
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| - Use the RigidObjectCollection spawn and view manipulation to demonstrate bin-packing example: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/bin_packing.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\bin_packing.py |
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| .. image:: ../_static/demos/bin_packing.jpg |
| :width: 100% |
| :alt: Spawning random number of random asset per env_id using combination of MultiAssetSpawner and RigidObjectCollection |
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| - Use the interactive scene and spawn a simple parallel robot for pick and place: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/pick_and_place.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\pick_and_place.py |
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| .. image:: ../_static/demos/pick_and_place.jpg |
| :width: 100% |
| :alt: User controlled pick and place with a parallel robot |
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| This is an interactive demo that can be run using the mouse and keyboard. |
| Your goal is pick up the purple cube and to drop it on the red sphere! |
| Use the following controls to interact with the simulation: |
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| * Hold the ``A`` key to have the gripper track the cube position. |
| * Hold the ``D`` key to have the gripper track the target position |
| * Press the ``W`` or ``S`` keys to move the gantry UP or DOWN respectively |
| * Press ``Q`` or ``E`` to OPEN or CLOSE the gripper respectively |
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| - Teleoperate a Franka Panda robot using Haply haptic device with force feedback: |
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| .. tab-set:: |
| :sync-group: os |
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65 |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65 |
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| .. image:: ../_static/demos/haply_teleop_franka.jpg |
| :width: 100% |
| :alt: Haply teleoperation with force feedback |
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| This demo requires Haply Inverse3 and VerseGrip devices. |
| The goal of this demo is to pick up the cube or touch it with the end-effector. |
| The Haply devices provide: |
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| * 3 dimensional position tracking for end-effector control |
| * Directional force feedback for contact sensing |
| * Button inputs for gripper and end-effector rotation control |
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| See :ref:`haply-teleoperation` for detailed setup instructions. |
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| - Create and spawn procedurally generated terrains with different configurations: |
|
|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/procedural_terrain.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\procedural_terrain.py |
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| .. image:: ../_static/demos/procedural_terrain.jpg |
| :width: 100% |
| :alt: Procedural Terrains in Isaac Lab |
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| - Spawn a quadcopter in the default environment: |
|
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| .. tab-set:: |
| :sync-group: os |
|
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/quadcopter.py |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\quadcopter.py |
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| .. image:: ../_static/demos/quadcopter.jpg |
| :width: 100% |
| :alt: Quadcopter in Isaac Lab |
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|
| - Spawn different quadrupeds and make robots stand using position commands: |
|
|
| .. tab-set:: |
| :sync-group: os |
|
|
| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
|
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/quadrupeds.py |
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|
| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
|
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\quadrupeds.py |
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| .. image:: ../_static/demos/quadrupeds.jpg |
| :width: 100% |
| :alt: Quadrupeds in Isaac Lab |
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| - Spawn a multi-mesh ray caster that uses Warp kernels for raycasting |
|
|
| .. tab-set:: |
| :sync-group: os |
|
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| .. tab-item:: :icon:`fa-brands fa-linux` Linux |
| :sync: linux |
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| .. code:: bash |
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| ./isaaclab.sh -p scripts/demos/sensors/multi_mesh_raycaster.py --num_envs 16 --asset_type objects |
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| .. tab-item:: :icon:`fa-brands fa-windows` Windows |
| :sync: windows |
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| .. code:: batch |
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| isaaclab.bat -p scripts\demos\sensors\multi_mesh_raycaster.py --num_envs 16 --asset_type objects |
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| .. image:: ../_static/demos/multi-mesh-raycast.jpg |
| :width: 100% |
| :alt: Multi-mesh raycaster in Isaac Lab |
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|
