.. _sphx_glr_examples_simulator:

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

The following examples show how to use the simulator.


.. raw:: html

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


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

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

  :ref:`sphx_glr_examples_simulator_example_curi_apply_force.py`

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


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

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

  :ref:`sphx_glr_examples_simulator_example_curi_controllers.py`

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


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

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  .. 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`

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


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    <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...">

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  .. 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>


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

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  .. 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`

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      <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.">

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

  :ref:`sphx_glr_examples_simulator_example_LLM_robotics.py`

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


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

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  .. 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>


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

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

  :ref:`sphx_glr_examples_simulator_example_franka_track_traj.py`

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


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

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

  :ref:`sphx_glr_examples_simulator_example_gluon_track_traj.py`

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      <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.">

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  .. 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>


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

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  .. 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...">

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  .. 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:

   /examples/simulator/example_curi_apply_force
   /examples/simulator/example_curi_controllers
   /examples/simulator/example_curi_cube_ik_osc
   /examples/simulator/example_curi_nut_bolt_ik_osc
   /examples/simulator/example_xsens_to_human_model
   /examples/simulator/example_LLM_robotics
   /examples/simulator/example_object_show
   /examples/simulator/example_franka_track_traj
   /examples/simulator/example_gluon_track_traj
   /examples/simulator/example_curi_track_traj_w_interference
   /examples/simulator/example_curi_track_traj
   /examples/simulator/example_walker_track_traj
   /examples/simulator/example_baxter_track_traj
   /examples/simulator/example_open3d_tsdf
   /examples/simulator/example_robot_show