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:

  Linux

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

  Windows

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

  

• Spawn different biped robots:

  Linux

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

  Windows

  isaaclab.bat -p scripts\demos\bipeds.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
  

  

• 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!.

• 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
  

  

• Define multiple markers that are useful for visualizations:

  Linux

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

  Windows

  isaaclab.bat -p scripts\demos\markers.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
  

  

• Use the interactive scene and spawn a simple parallel robot for pick and place:

  Linux

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

  Windows

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

  

  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:

  Linux

  ./isaaclab.sh -p scripts/demos/haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
  

  Windows

  isaaclab.bat -p scripts\demos\haply_teleoperation.py --websocket_uri ws://localhost:10001 --pos_sensitivity 1.65
  

  

  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 Setting up Haply Teleoperation for detailed setup instructions.

• 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
  

  

• Spawn a quadcopter in the default environment:

  Linux

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

  Windows

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

  

• 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