File size: 9,995 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 | 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.
A few quick showroom scripts to run and checkout:
- Spawn different arms and apply random joint position commands:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/arms.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\arms.py
.. image:: ../_static/demos/arms.jpg
:width: 100%
:alt: Arms in Isaac Lab
- Spawn different biped robots:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/bipeds.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\bipeds.py
.. image:: ../_static/demos/bipeds.jpg
:width: 100%
:alt: Biped robots in Isaac Lab
- Spawn different deformable (soft) bodies and let them fall from a height:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/deformables.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\deformables.py
.. image:: ../_static/demos/deformables.jpg
:width: 100%
:alt: Deformable primitive-shaped objects in Isaac Lab
- Interactive inference of trained H1 rough terrain locomotion policy:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/h1_locomotion.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\h1_locomotion.py
.. image:: ../_static/demos/h1_locomotion.jpg
:width: 100%
:alt: H1 locomotion in Isaac Lab
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:
* ``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!``.
- Spawn different hands and command them to open and close:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/hands.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\hands.py
.. image:: ../_static/demos/hands.jpg
:width: 100%
:alt: Dexterous hands in Isaac Lab
- Define multiple markers that are useful for visualizations:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/markers.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\markers.py
.. image:: ../_static/demos/markers.jpg
:width: 100%
:alt: Markers in Isaac Lab
- Use the interactive scene and spawn varying assets in individual environments:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/multi_asset.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\multi_asset.py
.. image:: ../_static/demos/multi_asset.jpg
:width: 100%
:alt: Multiple assets managed through the same simulation handles
- Use the RigidObjectCollection spawn and view manipulation to demonstrate bin-packing example:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/bin_packing.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\bin_packing.py
.. image:: ../_static/demos/bin_packing.jpg
:width: 100%
:alt: Spawning random number of random asset per env_id using combination of MultiAssetSpawner and RigidObjectCollection
- Use the interactive scene and spawn a simple parallel robot for pick and place:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/pick_and_place.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\pick_and_place.py
.. image:: ../_static/demos/pick_and_place.jpg
:width: 100%
:alt: User controlled pick and place with a parallel robot
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:
* 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
- Teleoperate a Franka Panda robot using Haply haptic device with force feedback:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
.. image:: ../_static/demos/haply_teleop_franka.jpg
:width: 100%
:alt: Haply teleoperation with force feedback
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:
* 3 dimensional position tracking for end-effector control
* Directional force feedback for contact sensing
* Button inputs for gripper and end-effector rotation control
See :ref:`haply-teleoperation` for detailed setup instructions.
- Create and spawn procedurally generated terrains with different configurations:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/procedural_terrain.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\procedural_terrain.py
.. image:: ../_static/demos/procedural_terrain.jpg
:width: 100%
:alt: Procedural Terrains in Isaac Lab
- Spawn a quadcopter in the default environment:
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/quadcopter.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\quadcopter.py
.. image:: ../_static/demos/quadcopter.jpg
:width: 100%
:alt: Quadcopter in Isaac Lab
- 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
.. code:: bash
./isaaclab.sh -p scripts/demos/quadrupeds.py
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\quadrupeds.py
.. image:: ../_static/demos/quadrupeds.jpg
:width: 100%
:alt: Quadrupeds in Isaac Lab
- Spawn a multi-mesh ray caster that uses Warp kernels for raycasting
.. tab-set::
:sync-group: os
.. tab-item:: :icon:`fa-brands fa-linux` Linux
:sync: linux
.. code:: bash
./isaaclab.sh -p scripts/demos/sensors/multi_mesh_raycaster.py --num_envs 16 --asset_type objects
.. tab-item:: :icon:`fa-brands fa-windows` Windows
:sync: windows
.. code:: batch
isaaclab.bat -p scripts\demos\sensors\multi_mesh_raycaster.py --num_envs 16 --asset_type objects
.. image:: ../_static/demos/multi-mesh-raycast.jpg
:width: 100%
:alt: Multi-mesh raycaster in Isaac Lab
|