| 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 | |