EXAMPLES.md

Examples Reference

Location: examples/ (105 files total)

Running Examples

uv run examples/tutorials/hello_genesis.py
uv run examples/rigid/single_franka.py

Categories

Directory	Files	Description
tutorials/	18	Getting started guides
rigid/	29	Rigid body and robot examples
coupling/	11	Multi-physics coupling
drone/	7	Quadcopter simulations
IPC_Solver/	5	IPC contact examples
locomotion/	4	Quadruped training
manipulation/	4	Grasping and manipulation
rendering/	4	Rendering demos
sensors/	4	Sensor examples
sap_coupling/	4	SAP coupling examples
collision/	3	Collision demos
speed_benchmark/	3	Performance benchmarks

Key Examples

Getting Started

• tutorials/hello_genesis.py - Basic introduction
• tutorials/control_your_robot.py - Robot control basics
• tutorials/parallel_simulation.py - Batched environments

Robotics

• rigid/single_franka.py - Single Franka arm
• rigid/ik_franka.py - Inverse kinematics
• rigid/domain_randomization.py - Domain randomization

Multi-Physics

• coupling/cloth_on_rigid.py - Cloth-rigid coupling
• coupling/sph_rigid.py - Fluid-rigid coupling
• coupling/sand_wheel.py - Granular-rigid coupling

Training

• locomotion/go2_env.py - Quadruped RL environment
• manipulation/grasp_env.py - Grasping RL environment