.. 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

   <div class="environment-browser demo-browser" data-demo-browser>
     <section class="environment-command-panel" aria-label="Isaac Lab demo command builder">
       <div class="environment-command-row environment-command-row-primary demo-command-row">
         <span class="environment-command-prefix">uvx isaaclab demo</span>
         <strong class="demo-command-selection" data-demo-name>zoo</strong>
       </div>
       <div class="environment-command-row demo-command-options">
         <label class="environment-selector environment-selector-physics">
           <span>--physics</span>
           <select data-demo-field="physics" aria-label="Physics backend"></select>
         </label>
         <label class="environment-selector environment-selector-renderer">
           <span>--viz</span>
           <select data-demo-field="visualizer" aria-label="Visualizer"></select>
         </label>
       </div>
       <p class="demo-command-description" data-demo-description></p>
       <div class="environment-command-output">
         <code data-command-output></code>
         <div class="environment-command-actions">
           <span class="environment-copy-status" data-copy-status aria-live="polite"></span>
           <button type="button" class="environment-copy-button" data-copy-command
                   aria-label="Copy command" title="Copy command">
             <i class="fa-regular fa-copy" aria-hidden="true"></i>
           </button>
         </div>
       </div>
     </section>

     <div class="demo-card-grid" data-demo-list>
       <button type="button" class="demo-card is-selected" aria-pressed="true"
               data-demo-name="Zoo" data-demo-id="zoo"
               data-demo-physics="isaacsim_physx,newton_mjwarp"
               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
               data-demo-visualizers-isaacsim-physx="none,kit,newton_gl,rerun,viser"
               data-demo-visualizers-newton-mjwarp="none,kit,newton_gl,newton_rtx,rerun,viser"
               data-demo-description="Animate an arm, biped, quadruped, dexterous hand, quadcopter, and rigid props in one deterministic scene.">
         <img src="../../_static/demos/zoo.jpg" alt="Robots in the Isaac Lab Zoo demo" loading="lazy">
         <span>Zoo</span>
       </button>
       <button type="button" class="demo-card" aria-pressed="false"
               data-demo-name="H1 Locomotion" data-demo-id="h1-locomotion"
               data-demo-physics="isaacsim_physx,newton_mjwarp"
               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
               data-demo-visualizers-isaacsim-physx="none,kit,newton_gl,rerun,viser"
               data-demo-visualizers-newton-mjwarp="none,kit,newton_gl,newton_rtx,rerun,viser"
               data-demo-description="Select H1 robots and control a trained rough-terrain policy with the keyboard and follow camera.">
         <img src="../../_static/demos/h1_locomotion.jpg" alt="H1 locomotion in Isaac Lab" loading="lazy">
         <span>H1 Locomotion</span>
       </button>
       <button type="button" class="demo-card" aria-pressed="false"
               data-demo-name="Pick and Place" data-demo-id="pick-and-place"
               data-demo-physics="isaacsim_physx" data-demo-visualizers="kit"
               data-demo-description="Interactively pick up a cube with a parallel robot and place it on a target.">
         <img src="../../_static/demos/pick_and_place.jpg" alt="Interactive pick and place demo" loading="lazy">
         <span>Pick and Place</span>
       </button>
       <button type="button" class="demo-card" aria-pressed="false"
               data-demo-name="Newton Block and Tackle" data-demo-id="newton-block-and-tackle"
               data-demo-physics="newton_vbd" data-demo-fixed-physics="true"
               data-demo-visualizers="newton_gl"
               data-demo-description="Drag a cable handle to lift a load through a 4:1 pulley system.">
         <img src="../../_static/demos/newton_block_and_tackle.jpg" alt="Block and tackle pulleys and a red load" loading="lazy">
         <span>Newton Block and Tackle</span>
       </button>
       <button type="button" class="demo-card" aria-pressed="false"
               data-demo-name="Snowball Smash" data-demo-id="snowball-smash"
               data-demo-physics="newton_mpm" data-demo-fixed-physics="true"
               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
               data-demo-args="--device cuda:0"
               data-demo-description="Smash rigid crates with coupled MPM snowballs.">
         <img src="../../_static/demos/snowball_smash.jpg" alt="Snowballs striking a stack of colored crates" loading="lazy">
         <span>Snowball Smash</span>
       </button>
       <button type="button" class="demo-card" aria-pressed="false"
               data-demo-name="Teapot Fill" data-demo-id="teapot-fill"
               data-demo-physics="newton_mpm" data-demo-fixed-physics="true"
               data-demo-visualizers="none,kit,newton_gl,newton_rtx,rerun,viser"
               data-demo-args="--device cuda:0"
               data-demo-description="Fill a Utah teapot with MPM water particles and pour them into a bowl.">
         <img src="../../_static/demos/teapot_fill.jpg" alt="Utah teapot pouring simulated water" loading="lazy">
         <span>Teapot Fill</span>
       </button>
     </div>
       <aside class="admonition hint demo-command-note" data-demo-note="h1-locomotion" hidden>
         <p class="admonition-title">H1 locomotion</p>
         <p>H1 locomotion uses a published policy. For autonomous H1 task playback, use <code>isaaclab play</code>.</p>
         <p data-demo-note-visualizers="newton_gl,newton_rtx" hidden>In the Newton viewer, press <kbd>N</kbd> to select a robot,
           <kbd>I</kbd>/<kbd>J</kbd>/<kbd>L</kbd> to walk forward or turn, <kbd>K</kbd> to stop, and <kbd>C</kbd> to toggle the follow camera.</p>
       </aside>
       <aside class="admonition hint demo-command-note" data-demo-note="pick-and-place" hidden>
         <p class="admonition-title">Pick and place</p>
         <p>Pick and place requires Kit input.</p>
       </aside>
   </div>

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 <name>``. In the Newton GL viewer, the
**Isaac Lab Programs** panel lets you switch between available demos and examples.