.. Copyright (c) 2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
.. All rights reserved.
..
.. SPDX-License-Identifier: BSD-3-Clause
.. _demos:
Demos
=====
Select a demo, choose its backend and visualizer, then copy the command to run it locally.
No source checkout is required.
.. raw:: html
uvx isaaclab demozoo
More examples
-------------
List all demos or focused API examples:
.. code-block:: bash
uvx --torch-backend cu130 isaaclab demo list
uvx --torch-backend cu130 isaaclab example list
Run a focused example with ``isaaclab example ``. In the Newton GL viewer, the
**Isaac Lab Programs** panel lets you switch between available demos and examples.
MicroDuck Warehouse rendering
-----------------------------
View the static MicroDuck Warehouse through selectable renderers and saved cameras, without advancing physics.
.. code-block:: bash
uv run --extra ovrtx isaaclab demo microduck-warehouse
uv run --extra isaacsim isaaclab demo microduck-warehouse renderer=isaacsim_rtx presets=path_traced
uv run isaaclab demo microduck-warehouse renderer=newton_renderer presets=aisle,depth
Use ``presets=aisle`` for the alternate camera and output presets such as ``depth`` or ``normals``.
For full MDL minimal shading, select ``renderer=isaacsim_rtx presets=minimal``.
.. _demo-sonic:
SONIC on gravel and sand
------------------------
The SONIC demo runs a G1 robot over gravel and sand with Newton MJWarp and MPM,
or Isaac Sim PhysX and PBD. It requires an NVIDIA GPU and uses Kit for RTX rendering.
From the repository root, install the simulator, recording dependencies, and the
additional packages used to download and run the released ONNX models:
.. code-block:: bash
uv sync --extra isaacsim --extra video
uv pip install "huggingface-hub>=0.34" "onnxruntime-gpu>=1.22"
The demo downloads the planner and tracker from
`nvidia/GEAR-SONIC `_ at a pinned revision.
The robot USD is downloaded from the public Isaac asset server.
Run either backend:
.. code-block:: bash
uv run --extra isaacsim --extra video isaaclab demo sonic \
--physics newton_mjwarp --output logs/sonic_newton
uv run --extra isaacsim --extra video isaaclab demo sonic \
--physics isaacsim_physx --video --output logs/sonic_physx
Without ``--viz``, Newton records offscreen with Kit/RTX and opens no simulation window;
PhysX opens Kit and records only with ``--video``. Both commands above save
``sonic_0000.mp4`` in the selected output directory (``logs/sonic`` when ``--output`` is omitted).
The terminal reports simulation progress. Recording advances
in simulation time, so the full MPM scene can take substantially longer than the video
duration. Pass ``--seconds`` to change the simulation duration.
Pass ``--viz newton_gl`` or ``--viz kit`` to open a Newton simulation window instead.
With an explicit ``--viz`` selection, recording is opt-in via ``--video``.
Append ``env.sim.device=cuda:1`` to select a different CUDA device for physics and SONIC
inference. PhysX keeps state buffers on the CPU for USD readback while particle
simulation uses the selected GPU.
``uv run`` preserves the manually installed packages. If you run ``uv sync`` again,
repeat the ``uv pip install`` command before launching SONIC.
.. _tablecloth-example:
Focused examples
----------------
.. grid:: 1 1 2 2
:gutter: 2
.. grid-item-card:: Tablecloth trick (Newton VBD, experimental)
.. figure:: ../_static/examples/tablecloth_h2.jpg
:width: 100%
:alt: Three H2 Plus robots comparing cloth pulls in the Cloth Pull Challenge cantina.
Native Kit viewport with the three pull stations aligned and interior lighting enabled.
Three H2 Plus robots with SHARPA hands pull tablecloths at different speeds
in the Cloth Pull Challenge cantina. Newton VBD simulates the cloth,
tableware, and contact-driven grasps; scripted IK controls the fixed-base robots.
The contact settings prioritize accuracy over real-time throughput.
.. code-block:: bash
uvx --torch-backend cu130 isaaclab example tablecloth --device cuda:0
Newton GL is the default visualizer. For the Isaac Sim RTX viewport,
install the ``isaacsim`` extra and select ``--visualizer kit``.
.. code-block:: bash
uvx --torch-backend cu130 --from 'isaaclab[isaacsim]' isaaclab example tablecloth --device cuda:0 --visualizer kit
Kit videos: `five-speed overview
`__
and `wider-side grasp and pull
`__.
.. grid-item-card:: Sharpa RJ45
.. _sharpa-rj45-example:
.. figure:: ../_static/examples/sharpa_rj45.jpg
:width: 100%
:alt: A SHARPA hand holding a green RJ45 connector at a GB300 switch port.
Kit preview with optional GB300 rack visuals.
A scripted Rizon 4s and SHARPA hand insert, release, regrasp and extract an
RJ45 connector in one continuous simulation. The non-RL manager-based
example uses native hydroelastic hand contact, a spring clip and a VBD cable.
.. code-block:: bash
uvx isaaclab example sharpa-rj45
From a checkout, use ``uv run isaaclab example sharpa-rj45``.
NewtonGL displays one GB300 rack; ``--viz kit`` and ``--viz newton_rtx``
load the full render-only data center without adding physics geometry.
Requires the external Rizon/SHARPA robot asset bundle; see the
:download:`asset and recording setup <../../../source/isaaclab_tasks/isaaclab_tasks/contrib/gb300_sharpa_insertion/README.md>`.