More examples

The tutorials in this guide teach one idea at a time. The repository also ships a large tree of runnable example scripts that show those ideas combined into real scenes: the best reference for practical, end-to-end usage. Browse it at examples/ and run anything that looks close to what you are building.

Every example is a self-contained script you can run directly. The directories group them by topic:

• tutorials/: the scripts behind this guide: first scene, visualization, control, parallel simulation, IK, and the soft-body and hybrid-robot walkthroughs.

• rigid/: the broadest set: rigid-body control, grasping, inverse kinematics, domain randomization, terrain, multi-GPU, and collision-geometry handling.

• sensors/: IMU, contact and tactile, joint torque, LiDAR, depth camera, surface distance, and temperature sensing.

• coupling/, sap_coupling/, and IPC_Solver/: two-way coupling between rigid bodies, cloth, fluids, and deformables, including the SAP and IPC contact solvers.

• rendering/: rendering modes, moving and entity-following cameras, and render performance.

• drone/: quadrotor flight, a PID controller, keyboard teleoperation, and a reinforcement-learning hover task.

• locomotion/ and manipulation/: full RL pipelines (Go2 walking, Franka grasping) plus a behavior-cloning example.

• usd/: importing USD stages and larger authored scenes.

• viewer_plugin/: extending the interactive viewer with mouse interaction and mesh picking.

• speed_benchmark/: throughput benchmarks.