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 quadrupeds and make robots stand using position commands:

  Linux

  ./isaaclab.sh -p scripts/demos/quadrupeds.py
  

  Windows

  isaaclab.bat -p scripts\demos\quadrupeds.py
  

  

• Spawn different arms and apply random joint position commands:

  Linux

  ./isaaclab.sh -p scripts/demos/arms.py
  

  Windows

  isaaclab.bat -p scripts\demos\arms.py
  

  

• Spawn different hands and command them to open and close:

  Linux

  ./isaaclab.sh -p scripts/demos/hands.py
  

  Windows

  isaaclab.bat -p scripts\demos\hands.py
  

  

• Spawn different deformable (soft) bodies and let them fall from a height:

  Linux

  ./isaaclab.sh -p scripts/demos/deformables.py
  

  Windows

  isaaclab.bat -p scripts\demos\deformables.py
  

  

• Use the interactive scene and spawn varying assets in individual environments:

  Linux

  ./isaaclab.sh -p scripts/demos/multi_asset.py
  

  Windows

  isaaclab.bat -p scripts\demos\multi_asset.py
  

  

• Create and spawn procedurally generated terrains with different configurations:

  Linux

  ./isaaclab.sh -p scripts/demos/procedural_terrain.py
  

  Windows

  isaaclab.bat -p scripts\demos\procedural_terrain.py
  

  

• Define multiple markers that are useful for visualizations:

  Linux

  ./isaaclab.sh -p scripts/demos/markers.py
  

  Windows

  isaaclab.bat -p scripts\demos\markers.py
  

  

• Interactive inference of trained H1 rough terrain locomotion policy:

  Linux

  ./isaaclab.sh -p scripts/demos/h1_locomotion.py
  

  Windows

  isaaclab.bat -p scripts\demos\h1_locomotion.py
  

  

  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!.