:orphan:

Example gallery
====================

Below is a gallery of examples


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Data collection and processing
-----------------------------

The following examples show how to collect multimodal demonstration data.


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the muscle force files to visualize the muscle force.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_bob_visualize_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_bob_visualize.py`

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      <div class="sphx-glr-thumbnail-title">BoB Visualize</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to process and visualize the EMG data.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_emg_export1_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_emg_export1.py`

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      <div class="sphx-glr-thumbnail-title">Delsys EMG Export</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to process and visualize the EMG data.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_emg_export_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_emg_export.py`

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      <div class="sphx-glr-thumbnail-title">Delsys EMG Export</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to record EMG data via Delsys Trigno Control Utility.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_emg_record_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_emg_record.py`

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      <div class="sphx-glr-thumbnail-title">Delsys EMG Record</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to record the data from Xsens, Optitrack, ZED and Delsys EMG synchronous...">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_mmodal_record_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_mmodal_record.py`

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      <div class="sphx-glr-thumbnail-title">Multimodal Record</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to synchronise and use multimodal data.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_mmodel_export_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_mmodel_export.py`

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      <div class="sphx-glr-thumbnail-title">Multimodal data fusion</div>
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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to clean the .csv files outputted by Optitrack.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_optitrack_export_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_optitrack_export.py`

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      <div class="sphx-glr-thumbnail-title">Optitrack Export</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to record Optitrack data via network streaming.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_optitrack_record_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_optitrack_record.py`

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      <div class="sphx-glr-thumbnail-title">Optitrack Record</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to visualize Optitrack data.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_optitrack_visualize_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_optitrack_visualize.py`

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      <div class="sphx-glr-thumbnail-title">Optitrack Visualize</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to export Xsens MVNX file to multiple skeleton .npy files.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_xsens_export_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_xsens_export.py`

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      <div class="sphx-glr-thumbnail-title">Xsens Export</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to record Xsens MTw Awinda via network streaming.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_xsens_record_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_xsens_record.py`

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      <div class="sphx-glr-thumbnail-title">Xsens Record</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the skeleton files to visualize the human motion as a gif.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_xsens_visualize_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_xsens_visualize.py`

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      <div class="sphx-glr-thumbnail-title">Xsens Visualize</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to export a SVO file to a video or image sequence.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_zed_export_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_zed_export.py`

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      <div class="sphx-glr-thumbnail-title">ZED Export</div>
    </div>


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    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to record multiple ZED cameras simultaneously.">

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  .. image:: /examples/data_collection/images/thumb/sphx_glr_zed_record_thumb.png
    :alt:

  :ref:`sphx_glr_examples_data_collection_zed_record.py`

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      <div class="sphx-glr-thumbnail-title">ZED Record</div>
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    </div>

Reinforcement learning class
-----------------------------

The following are examples of reinforcement learning methods for robot learning.

.. tabs::

    .. tab:: IsaacGym

        .. tabs::

            .. tab:: Ant

                .. code-block:: shell

                    '''Training''' 
                    python examples/learning_rl/IsaacGym_RofuncRL/example_Ant_RofuncRL.py --agent=[ppo|a2c|td3|sac]

                    '''Inference with pre-trained model in model zoo'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_Ant_RofuncRL.py --agent=ppo --inference
                                 
            .. tab:: CURICabinet

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_CURICabinet_RofuncRL.py --agent=ppo

                    '''Inference with pre-trained model in model zoo'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_CURICabinet_RofuncRL.py --agent=ppo --inference

            .. tab:: CURIQbSoftHandSynergyGrasp

                .. code-block:: shell

                    # Available objects: Hammer, Spatula, Large_Clamp, Mug, Power_Drill, Knife, Scissors, Large_Marker, Phillips_Screw_Driver

                    '''Training'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py --task=CURIQbSoftHandSynergyGrasp --agent=ppo --objects=Hammer

                    '''Inference with pre-trained model in model zoo'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py --task=CURIQbSoftHandSynergyGrasp --agent=ppo --inference --objects=Hammer

            .. tab:: FrankaCabinet

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_FrankaCabinet_RofuncRL.py --agent=ppo

                    '''Inference with pre-trained model in model zoo'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_FrankaCabinet_RofuncRL.py --agent=ppo --inference

            .. tab:: FrankaCubeStack

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_FrankaCubeStack_RofuncRL.py --agent=ppo


            .. tab:: Humanoid

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_Humanoid_RofuncRL.py --agent=ppo

                    '''Inference with pre-trained model in model zoo'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_Humanoid_RofuncRL.py --agent=ppo --inference

            .. tab:: HumanoidAMP
                    
                .. code-block:: shell

                    '''Training'''
                    # Backflip
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_backflip --agent=amp
                    # Walk
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_walk --agent=amp
                    # Run
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_run --agent=amp
                    # Dance
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_dance --agent=amp
                    # Hop
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_hop --agent=amp

                    '''Inference with pre-trained model in model zoo'''
                    # Backflip
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_backflip --agent=amp --inference
                    # Walk
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_walk --agent=amp --inference
                    # Run
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_run --agent=amp --inference
                    # Dance
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_dance --agent=amp --inference
                    # Hop
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidAMP_RofuncRL.py --task=HumanoidAMP_hop --agent=amp --inference

            .. tab:: HumanoidASE

                .. code-block:: shell

                    '''Training'''
                    # Getup
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEGetupSwordShield --agent=ase
                    # Getup with perturbation
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEPerturbSwordShield --agent=ase
                    # Heading
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEHeadingSwordShield --agent=ase
                    # Reach
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEReachSwordShield --agent=ase
                    # Location
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASELocationSwordShield --agent=ase
                    # Strike
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEStrikeSwordShield --agent=ase

                    '''Inference with pre-trained model in model zoo'''
                    # Getup
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEGetupSwordShield --agent=ase --inference
                    # Getup with perturbation
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEPerturbSwordShield --agent=ase --inference
                    # Heading
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEHeadingSwordShield --agent=ase --inference
                    # Reach
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEReachSwordShield --agent=ase --inference
                    # Location
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASELocationSwordShield --agent=ase --inference
                    # Strike
                    python examples/learning_rl/IsaacGym_RofuncRL/example_HumanoidASE_RofuncRL.py --task=HumanoidASEStrikeSwordShield --agent=ase --inference

            .. tab:: DexterousHand

                .. code-block:: shell

                    '''Training'''
                    # Available tasks: BiShadowHandOver, BiShadowHandBlockStack, BiShadowHandBottleCap, BiShadowHandCatchAbreast,
                    #                  BiShadowHandCatchOver2Underarm, BiShadowHandCatchUnderarm, BiShadowHandDoorOpenInward,
                    #                  BiShadowHandDoorOpenOutward, BiShadowHandDoorCloseInward, BiShadowHandDoorCloseOutward,
                    #                  BiShadowHandGraspAndPlace, BiShadowHandLiftUnderarm, BiShadowHandPen, BiShadowHandPointCloud,
                    #                  BiShadowHandPushBlock, BiShadowHandReOrientation, BiShadowHandScissors, BiShadowHandSwingCup,
                    #                  BiShadowHandSwitch, BiShadowHandTwoCatchUnderarm
                    python examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py --task=BiShadowHandOver --agent=ppo

                    '''Inference with pre-trained model in model zoo'''
                    python examples/learning_rl/IsaacGym_RofuncRL/example_DexterousHands_RofuncRL.py --task=BiShadowHandOver --agent=ppo --inference

        .. list-table:: Task Overview
           :widths: 25 40 40 10
           :header-rows: 1

           * - Tasks
             - Animation
             - Performance
             - `ModelZoo <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/config/learning/model_zoo.json>`_
           * - `Ant <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ant.py>`_
             - .. image:: ../../../img/task_gifs/AntRofuncRLPPO.gif
             - 
             - ✅
           * - `Cartpole <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/cartpole.py>`_
             -
             -
             - 
           * - `FrankaCabinet <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/franka_cabinet.py>`_
             - .. image:: ../../../img/task_gifs/FrankaCabinetRofuncRLPPO.gif
             - 
             - ✅
           * - `FrankaCubeStack <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/franka_cube_stack.py>`_
             - 
             - 
             -
           * - `CURICabinet <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/curi_cabinet.py>`_
             - .. image:: ../../../img/task_gifs/CURICabinetRofuncRLPPO.gif
             - 
             - ✅
           * - `CURICabinetImage <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/curi_cabinet_image.py>`_
             - .. image:: ../../../img/task_gifs/CURICabinetRofuncRLPPO.gif
             - 
             -
           * - `CURICabinetBimanual <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/curi_cabinet_bimanual.py>`_
             - 
             - 
             -
           * - `CURIQbSoftHandSynergyGrasp <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/grasp/curi_qbhand_synergy_grasp.py>`_
             - .. image:: ../../../img/task_gifs/CURIQbSoftHandSynergyGraspHammerRofuncRLPPO.gif .. image:: ../../../img/task_gifs/CURIQbSoftHandSynergyGraspKnifeRofuncRLPPO.gif .. image:: ../../../img/task_gifs/CURIQbSoftHandSynergyGraspLarge_clampRofuncRLPPO.gif .. image:: ../../../img/task_gifs/CURIQbSoftHandSynergyGraspMugRofuncRLPPO.gif .. image:: ../../../img/task_gifs/CURIQbSoftHandSynergyGraspPhillips_Screw_DriverRofuncRLPPO.gif .. image:: ../../../img/task_gifs/CURIQbSoftHandSynergyGraspPower_drillRofuncRLPPO.gif .. image:: ../../../img/task_gifs/CURIQbSoftHandSynergyGraspScissorsRofuncRLPPO.gif  .. image:: ../../../img/task_gifs/CURIQbSoftHandSynergyGraspSpatulaRofuncRLPPO.gif
             -
             - ✅
           * - `Humanoid <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/humanoid.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidRofuncRLPPO.gif
             -
             - ✅
           * - `HumanoidAMP_backflip <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/humanoid_amp.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidFlipRofuncRLAMP.gif
             - 
             - ✅
           * - `HumanoidAMP_walk <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/humanoid_amp.py>`_
             - 
             -
             - ✅
           * - `HumanoidAMP_run <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/humanoid_amp.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidRunRofuncRLAMP.gif
             - 
             - ✅
           * - `HumanoidAMP_dance <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/humanoid_amp.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidDanceRofuncRLAMP.gif
             -
             - ✅
           * - `HumanoidAMP_hop <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/humanoid_amp.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidHopRofuncRLAMP.gif
             -
             - ✅
           * - `HumanoidASEGetupSwordShield <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ase/humanoid_amp_getup.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidASEGetupSwordShieldRofuncRLASE.gif
             -
             - ✅
           * - `HumanoidASEPerturbSwordShield <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ase/humanoid_perturb.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidASEPerturbSwordShieldRofuncRLASE.gif
             -
             - ✅
           * - `HumanoidASEHeadingSwordShield <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ase/humanoid_heading.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidASEHeadingSwordShieldRofuncRLASE.gif
             -
             - ✅
           * - `HumanoidASELocationSwordShield <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ase/humanoid_location.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidASELocationSwordShieldRofuncRLASE.gif
             -
             - ✅
           * - `HumanoidASEReachSwordShield <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ase/humanoid_reach.py>`_
             - 
             -
             - ✅
           * - `HumanoidASEStrikeSwordShield <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ase/humanoid_strike.py>`_
             - .. image:: ../../../img/task_gifs/HumanoidASEStrikeSwordShieldRofuncRLASE.gif
             - 
             - ✅
           * - `BiShadowHandBlockStack <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_block_stack.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandBlockStackRofuncRLPPO.gif
             - 
             - ✅
           * - `BiShadowHandBottleCap <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_bottle_cap.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandBottleCapRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandCatchAbreast <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_catch_abreast.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandCatchAbreastRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandCatchOver2Underarm <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_catch_over2underarm.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandCatchOver2UnderarmRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandCatchUnderarm <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_catch_underarm.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandCatchUnderarmRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandDoorOpenInward <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_door_open_inward.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandDoorOpenInwardRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandDoorOpenOutward <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_door_open_outward.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandDoorOpenOutwardRofuncRLPPO.gif
             - 
             - ✅
           * - `BiShadowHandDoorCloseInward <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_door_close_inward.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandDoorCloseInwardRofuncRLPPO.gif
             - 
             - ✅
           * - `BiShadowHandDoorCloseOutward <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_door_close_outward.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandDoorCloseOutwardRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandGraspAndPlace <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_grasp_and_place.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandGraspAndPlaceRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandLiftUnderarm <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_lift_underarm.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandLiftUnderarmRofuncRLPPO.gif
             - 
             - ✅
           * - `BiShadowHandOver <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_over.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandOverRofuncRLPPO.gif
             - 
             - ✅
           * - `BiShadowHandPen <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_pen.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandPenRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandPointCloud <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_point_cloud.py>`_
             - 
             -
             - 
           * - `BiShadowHandPushBlock <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_push_block.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandPushBlockRofuncRLPPO.gif
             - 
             - ✅
           * - `BiShadowHandReOrientation <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_re_orientation.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandReOrientationRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandScissors <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/ahandsse/shadow_hand_scissors.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandScissorsRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandSwingCup <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_swing_cup.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandSwingCupRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandSwitch <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_switch.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandSwitchRofuncRLPPO.gif
             -
             - ✅
           * - `BiShadowHandTwoCatchUnderarm <https://github.com/Skylark0924/Rofunc/blob/main/rofunc/learning/RofuncRL/tasks/isaacgymenv/hands/shadow_hand_two_catch_underarm.py>`_
             - .. image:: ../../../img/task_gifs/BiShadowHandTwoCatchUnderarmRofuncRLPPO.gif
             -
             - ✅


    .. tab:: OmniIsaacGym

        .. tabs::

            .. tab:: AllegroHand

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_AllegroHandOmni_RofuncRL.py --agent=ppo

            .. tab:: Ant

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_AntOmni_RofuncRL.py --agent=ppo

            .. tab:: Anymal

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_AnymalOmni_RofuncRL.py --agent=ppo

            .. tab:: AnymalTerrain

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_AnymalTerrainOmni_RofuncRL.py --agent=ppo


            .. tab:: BallBalance

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_BallBalanceOmni_RofuncRL.py --agent=ppo

            .. tab:: Cartpole

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_CartpoleOmni_RofuncRL.py --agent=ppo

            .. tab:: Crazyflie

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_CrazyflieOmni_RofuncRL.py --agent=ppo

            .. tab:: FactoryNutBoltPick

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_FactoryNutBoltPickOmni_RofuncRL.py --agent=ppo


            .. tab:: FrankaCabinet

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_FrankaCabinetOmni_RofuncRL.py --agent=ppo

            .. tab:: Humanoid

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_HumanoidOmni_RofuncRL.py --agent=ppo

            .. tab:: Ingenuity

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_IngenuityOmni_RofuncRL.py --agent=ppo

            .. tab:: Quadcopter

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_QuadcopterOmni_RofuncRL.py --agent=ppo

            .. tab:: ShadowHand

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OmniIsaacGym_RofuncRL/example_ShadowHandOmni_RofuncRL.py --agent=ppo

    .. tab:: OpenAI Gym

        .. tabs::

            .. tab:: Pendulum

                .. code-block:: shell

                    '''Training'''
                    python examples/learning_rl/OpenAIGym_RofuncRL/example_GymTasks_RofuncRL.py --task=Gym_Pendulum-v1 --agent=[ppo|a2c|td3|sac]

            .. tab:: CartPole

                .. code-block:: shell

                    '''Training''' 
                    python examples/learning_rl/OpenAIGym_RofuncRL/example_GymTasks_RofuncRL.py --task=Gym_CartPole-v1 --agent=[ppo|a2c|td3|sac]

            .. tab:: Acrobot

                .. code-block:: shell

                    '''Training''' 
                    python examples/learning_rl/OpenAIGym_RofuncRL/example_GymTasks_RofuncRL.py --task=Gym_Acrobot-v1 --agent=[ppo|a2c|td3|sac]

    .. tab:: D4RL

        .. code-block:: shell

            '''Training'''
            # Hopper
            python examples/learning_rl/D4RL_Rofunc/example_D4RL_RofuncRL.py --task=Hopper --agent=dtrans
            # Walker2d
            python examples/learning_rl/D4RL_Rofunc/example_D4RL_RofuncRL.py --task=Walker2d --agent=dtrans
            # HalfCheetah
            python examples/learning_rl/D4RL_Rofunc/example_D4RL_RofuncRL.py --task=HalfCheetah --agent=dtrans
            # Reacher2d
            python examples/learning_rl/D4RL_Rofunc/example_D4RL_RofuncRL.py --task=Reacher2d --agent=dtrans



.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    </div>

Machine learning class
-----------------------------

The following are examples of machine learning methods for robot learning.


.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="The code for the paper &quot;BiRP: BiRP: Learning Robot Generalized Bimanual Coordination using Rela...">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_birp_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_birp.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">BiRP</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="The coder for the paper &quot;FeLT: Fully Tactile-driven Robot Plate Cleaning Skill Learning from Hu...">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_felt_lqt_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_felt_lqt.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">FeLT</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="The coder for the paper &quot;FeLT: Fully Tactile-driven Robot Plate Cleaning Skill Learning from Hu...">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_felt_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_felt.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">FeLT</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the GMR to learn a human demonstration motion.">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_gmr_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_gmr.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">GMR</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the TP-GMM to learn a human demonstration motion.">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_tpgmm_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_tpgmm.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">TP-GMM</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the TP-GMM in bimanual setting (without coordination).">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_tpgmmbi_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_tpgmmbi.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">TP-GMM for bimanual setting</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the TP-GMM in bimanual setting with Relative Parameterization in ...">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_tpgmmbi_RPCtrl_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_tpgmmbi_RPCtrl.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">TP-GMMBi with Relative Parameterization in Control</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the TP-GMM in bimanual setting with Relative Parameterization in ...">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_tpgmmbi_RPRepr_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_tpgmmbi_RPRepr.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">TP-GMMBi with Relative Parameterization in Representation</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the TP-GMR to learn a Tai Chi movement.">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_tpgmr_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_tpgmr.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">TP-GMR for Tai Chi</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the TPGMM and TPGMMBi classes to learn Taichi pushing hand on a h...">

.. only:: html

  .. image:: /examples/learning_ml/images/thumb/sphx_glr_example_taichi_thumb.png
    :alt:

  :ref:`sphx_glr_examples_learning_ml_example_taichi.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Taichi</div>
    </div>


.. raw:: html

    </div>

Planning and control methods
-----------------------------

The following are examples of planning and control methods that can be used to.


.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR algorithm to track a bimanual trajectory.">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_bi_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_bi.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Bimanual iLQR</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the LQT controller to track a trajectory.">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_plot_example_lqt_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_plot_example_lqt.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">LQT</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how a feedback LQT works.">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_lqt_fb_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_lqt_fb.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">LQT feedback version</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the LQT controller with control primitives to track a trajectory.">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_plot_example_lqt_cp_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_plot_example_lqt_cp.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">LQT with control primitives</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the LQT controller with control primitives and DMP to track a tra...">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_plot_example_lqt_cp_dmp_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_plot_example_lqt_cp_dmp.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">LQT with control primitives and DMP</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR algorithm to track a trajectory in a 3-dimensional space...">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr3d_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr3d.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR algorithm to track a trajectory.">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR solver with control primitive.">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_cp_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_cp.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR control primitive version</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR solver with a CoM task.">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_com_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_com.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR with CoM</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR solver with dynamics model .">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_dyna_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_dyna.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR with dynamics</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the iLQR solver with obstacle avoidance.">

.. only:: html

  .. image:: /examples/planning_control/images/thumb/sphx_glr_example_ilqr_obstacle_thumb.png
    :alt:

  :ref:`sphx_glr_examples_planning_control_example_ilqr_obstacle.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">iLQR with obstacle avoidance</div>
    </div>


.. raw:: html

    </div>

Robolab
-----------------------------

The following examples show the use of the Robolab API.


.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Verify the precision of transformation matrix by optitrack">

.. only:: html

  .. image:: /examples/robolab/images/thumb/sphx_glr_example_curi_transformation_verification_with_optitrack_thumb.png
    :alt:

  :ref:`sphx_glr_examples_robolab_example_curi_transformation_verification_with_optitrack.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">CURI FK transformation verification with optitrack</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Forward dynamics of the CURI robot.">

.. only:: html

  .. image:: /examples/robolab/images/thumb/sphx_glr_example_curi_forward_dynamics_thumb.png
    :alt:

  :ref:`sphx_glr_examples_robolab_example_curi_forward_dynamics.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">CURI forward dynamics</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Forward kinematics and visualization of the CURI robot.">

.. only:: html

  .. image:: /examples/robolab/images/thumb/sphx_glr_example_curi_forward_kinematics_thumb.png
    :alt:

  :ref:`sphx_glr_examples_robolab_example_curi_forward_kinematics.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">CURI forward kinematics</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Inverse kinematics of the CURI robot.">

.. only:: html

  .. image:: /examples/robolab/images/thumb/sphx_glr_example_curi_inverse_kinematics_thumb.png
    :alt:

  :ref:`sphx_glr_examples_robolab_example_curi_inverse_kinematics.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">CURI inverse kinematics</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Link name, joint name and actuated joint name of the CURI robot.">

.. only:: html

  .. image:: /examples/robolab/images/thumb/sphx_glr_example_curi_utils_thumb.png
    :alt:

  :ref:`sphx_glr_examples_robolab_example_curi_utils.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">CURI utils</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to transform coordinates between different reference frames and rotation...">

.. only:: html

  .. image:: /examples/robolab/images/thumb/sphx_glr_example_coordinate_transform_thumb.png
    :alt:

  :ref:`sphx_glr_examples_robolab_example_coordinate_transform.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Coordinate transform</div>
    </div>


.. raw:: html

    </div>

Visualab
-----------------------------

The following examples show the use of the Visualab API.


.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example runs an interactive demo which allows user to select a region of interest and gene...">

.. only:: html

  .. image:: /examples/visualab/images/thumb/sphx_glr_example_efficient_sam_seg_w_prompt_thumb.png
    :alt:

  :ref:`sphx_glr_examples_visualab_example_efficient_sam_seg_w_prompt.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Image segmentation using EfficientSAM with prompt</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example generates all masks automatically with SAM.">

.. only:: html

  .. image:: /examples/visualab/images/thumb/sphx_glr_example_sam_seg_thumb.png
    :alt:

  :ref:`sphx_glr_examples_visualab_example_sam_seg.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Image segmentation using SAM</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example runs an interactive demo which allows user to select a region of interest and gene...">

.. only:: html

  .. image:: /examples/visualab/images/thumb/sphx_glr_example_sam_seg_w_prompt_thumb.png
    :alt:

  :ref:`sphx_glr_examples_visualab_example_sam_seg_w_prompt.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Image segmentation using SAM with prompt</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example allows user to provide a text prompt and generate a mask for the corresponding obj...">

.. only:: html

  .. image:: /examples/visualab/images/thumb/sphx_glr_example_vlpart_sam_seg_w_prompt_thumb.png
    :alt:

  :ref:`sphx_glr_examples_visualab_example_vlpart_sam_seg_w_prompt.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Part-level segmentation using SAM and VLPart with prompt</div>
    </div>


.. raw:: html

    </div>

Simulator 
-----------------------------

The following examples show how to use the simulator.


.. raw:: html

    <div class="sphx-glr-thumbnails">


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to apply rigid body forces and torques using the tensor API.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_curi_apply_force_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_curi_apply_force.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Apply Forces and Torques On CURI</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use basic controllers of the CURI robot.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_curi_controllers_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_curi_controllers.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">CURI controllers</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Use Jacobian matrix and inverse kinematics control of curi robot to pick up a box. Damped Least...">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_curi_cube_ik_osc_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_curi_cube_ik_osc.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">CURI cube pick</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to use the gym interface to control the CURI robot to screw a nut onto a...">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_curi_nut_bolt_ik_osc_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_curi_nut_bolt_ik_osc.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">CURI screw nut</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to construct a custom human model (URDF) from Xsens data.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_xsens_to_human_model_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_xsens_to_human_model.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Construct custom human model from Xsens data</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example allows you to control a robot with LLM and pre-defined low-level motion API.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_LLM_robotics_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_LLM_robotics.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">LLM control a robot with pre-defined low-level motion API</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="Example for showing objects in the simulator and tracking cameras with rgb, depth, and segmenta...">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_object_show_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_object_show.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Object Simulator and Camera Tracking</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example runs a Tai Chi demo trajectory by using Franka.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_franka_track_traj_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_franka_track_traj.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Tracking the trajectory by Franka</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example runs a Tai Chi demo trajectory by using Gluon.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_gluon_track_traj_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_gluon_track_traj.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Tracking the trajectory by Gluon</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example runs a Tai Chi demo bimanual trajectory by using CURI.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_curi_track_traj_w_interference_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_curi_track_traj_w_interference.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Tracking the trajectory with interference by CURI</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example runs a Tai Chi demo bimanual trajectory by using CURI.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_curi_track_traj_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_curi_track_traj.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Tracking the trajectory with multiple rigid bodies by CURI</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example runs a Tai Chi demo bimanual trajectory by using Walker.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_walker_track_traj_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_walker_track_traj.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Tracking the trajectory with multiple rigid bodies by Walker</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example runs a Tai Chi demo bimanual trajectory by using Walker.">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_baxter_track_traj_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_baxter_track_traj.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Tracking the trajectory with multiple rigid bodies by Walker</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to visualize robots and objects in the Isaac Gym simulator in an interac...">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_open3d_tsdf_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_open3d_tsdf.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Visualize robots and objects</div>
    </div>


.. raw:: html

    <div class="sphx-glr-thumbcontainer" tooltip="This example shows how to visualize robots and objects in the Isaac Gym simulator in an interac...">

.. only:: html

  .. image:: /examples/simulator/images/thumb/sphx_glr_example_robot_show_thumb.png
    :alt:

  :ref:`sphx_glr_examples_simulator_example_robot_show.py`

.. raw:: html

      <div class="sphx-glr-thumbnail-title">Visualize robots and objects</div>
    </div>


.. raw:: html

    </div>


.. toctree::
   :hidden:
   :includehidden:


   /examples/data_collection/index.rst
   /examples/learning_rl/index.rst
   /examples/learning_ml/index.rst
   /examples/planning_control/index.rst
   /examples/robolab/index.rst
   /examples/visualab/index.rst
   /examples/simulator/index.rst


.. only:: html

  .. container:: sphx-glr-footer sphx-glr-footer-gallery

    .. container:: sphx-glr-download sphx-glr-download-python

      :download:`Download all examples in Python source code: examples_python.zip </examples/examples_python.zip>`

    .. container:: sphx-glr-download sphx-glr-download-jupyter

      :download:`Download all examples in Jupyter notebooks: examples_jupyter.zip </examples/examples_jupyter.zip>`


.. only:: html

 .. rst-class:: sphx-glr-signature

    `Gallery generated by Sphinx-Gallery <https://sphinx-gallery.github.io>`_