Package demos and examples behind the Isaac Lab CLI

.github/workflows/build.yaml

@@ -430,6 +430,7 @@ jobs:
         standalone-script-scope: "demos"
         standalone-script-visualizer: "none"
         standalone-script-runtime-group: kit
+        warp-cache: restore
         result-file: "test-standalone-demos-kit-report.xml"
         container-name: isaac-lab-standalone-demos-kit-test
         omni-github-test-type: standalone-demo
@@ -460,6 +461,7 @@ jobs:
         standalone-script-scope: "demos"
         standalone-script-visualizer: "none"
         standalone-script-runtime-group: non-kit
+        warp-cache: restore
         result-file: "test-standalone-demos-non-kit-report.xml"
         container-name: isaac-lab-standalone-demos-non-kit-test
         omni-github-test-type: standalone-demo

.github/workflows/wheel.yml

@@ -44,6 +44,7 @@ jobs:
           # run only when inputs that can affect the wheel have changed.
           patterns=(
             $'^apps/\tStandalone apps packaged in the wheel'
+            $'^examples/\tDemos and examples packaged in the wheel'
             $'^pyproject\.toml$\tWheel dependency metadata and resolver overrides'
             $'^VERSION$\tPackage version'
             $'^source/\tPython packages'

docs/source/_static/css/demo-browser.js

@@ -16,15 +16,15 @@
             return;
         }
 
-        const cards = [...browser.querySelectorAll("[data-demo-path]")];
+        const cards = [...browser.querySelectorAll("[data-demo-id]")];
         const fields = Object.fromEntries(
             [...browser.querySelectorAll("[data-demo-field]")].map((field) => [field.dataset.demoField, field])
         );
         const commandOutput = browser.querySelector("[data-command-output]");
         const copyButton = browser.querySelector("[data-copy-command]");
         const copyStatus = browser.querySelector("[data-copy-status]");
-        const selectedName = browser.querySelector("[data-demo-name]:not([data-demo-path])");
-        const selectedDescription = browser.querySelector("[data-demo-description]:not([data-demo-path])");
+        const selectedName = browser.querySelector("[data-demo-name]:not([data-demo-id])");
+        const selectedDescription = browser.querySelector("[data-demo-description]:not([data-demo-id])");
         let selectedCard = cards[0];
 
         const populateSelect = (select, values, preferredValues) => {
@@ -50,17 +50,20 @@
             if (fields.physics.value === "ovphysx") {
                 requiredExtras.add("ovphysx");
             }
+            if (fields.visualizer.value === "newton_rtx") {
+                requiredExtras.add("ovrtx");
+            }
             if (["rerun", "viser"].includes(fields.visualizer.value)) {
                 requiredExtras.add(fields.visualizer.value);
             }
-            const extraOrder = ["isaacsim", "ovphysx", "tetrahedralization", "teleop", "rerun", "viser"];
+            const extraOrder = ["isaacsim", "ovphysx", "ovrtx", "tetrahedralization", "teleop", "rerun", "viser"];
             const extras = extraOrder.filter((extra) => requiredExtras.has(extra));
 
-            const parts = ["uv", "run"];
+            const parts = ["uvx"];
             if (extras.length) {
-                parts.push("--extra", extras.join(","));
+                parts.push("--from", `'isaaclab[${extras.join(",")}]'`);
             }
-            parts.push("python", selectedCard.dataset.demoPath);
+            parts.push("isaaclab", "demo", selectedCard.dataset.demoId);
             if (selectedCard.dataset.demoFixedPhysics !== "true") {
                 parts.push("--physics", fields.physics.value);
             }
@@ -90,7 +93,7 @@
             }
             selectedName.textContent = selectedCard.dataset.demoName;
             selectedDescription.textContent = selectedCard.dataset.demoDescription;
-            populateSelect(fields.physics, splitValues(selectedCard.dataset.demoPhysics), ["isaacsim_physx", "newton_mjwarp"]);
+            populateSelect(fields.physics, splitValues(selectedCard.dataset.demoPhysics), ["newton_mjwarp", "isaacsim_physx"]);
             updateVisualizer();
         };
 

docs/source/api/lab/isaaclab.app.rst

@@ -63,13 +63,13 @@ To set the environment variables, one can use the following command in the termi
 
          export LIVESTREAM=2
          # run the python script
-         uv run --extra isaacsim python scripts/demos/quadrupeds.py
+         uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
 
       Alternatively, set the environment variable inline for a single invocation:
 
       .. code-block:: bash
 
-         LIVESTREAM=2 uv run --extra isaacsim python scripts/demos/quadrupeds.py
+         LIVESTREAM=2 uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
 
    .. tab-item:: :icon:`fa-brands fa-linux` Linux aarch64 (DGX Spark)
       :sync: linux-aarch64
@@ -78,13 +78,13 @@ To set the environment variables, one can use the following command in the termi
 
          export LIVESTREAM=2
          # run the python script
-         LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run --extra isaacsim python scripts/demos/quadrupeds.py
+         LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
 
       Alternatively, set the environment variable inline for a single invocation:
 
       .. code-block:: bash
 
-         LIVESTREAM=2 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run --extra isaacsim python scripts/demos/quadrupeds.py
+         LIVESTREAM=2 LD_PRELOAD=/lib/aarch64-linux-gnu/libgomp.so.1 uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
 
       .. note::
 
@@ -106,14 +106,14 @@ To set the environment variables, one can use the following command in the termi
       .. code-block:: batch
 
          set LIVESTREAM=2
-         uv run --extra isaacsim python scripts/demos/quadrupeds.py
+         uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
 
       In PowerShell:
 
       .. code-block:: powershell
 
          $env:LIVESTREAM = "2"
-         uv run --extra isaacsim python scripts/demos/quadrupeds.py
+         uv run --extra isaacsim isaaclab demo zoo --physics isaacsim_physx --viz kit
 
       .. note::
 

docs/source/concepts/deformables.rst

@@ -387,7 +387,7 @@ where ``L_parent`` and ``L_child`` are the rest lengths of the two segments it s
     Lab authors has no attribute for it.
 
 To target a specific axial ``E * A`` or bending ``E * I``, invert these relations to pick the
-modulus; ``scripts/demos/cables.py`` does this from a target stiffness and the segment geometry.
+modulus; ``examples/cables.py`` does this from a target stiffness and the segment geometry.
 
 Cable collision
 ^^^^^^^^^^^^^^^
@@ -571,38 +571,38 @@ Cable
     winding, since leaving it unset falls back to the bend value as described above.
 
 
-Demos and tasks
----------------
+Examples and tasks
+------------------
 
-Run a demo first to confirm that the spawner, solver, and visualizer all work in your environment.
+Run an example first to confirm that the spawner, solver, and visualizer all work in your environment.
 
 .. list-table::
     :header-rows: 1
     :widths: 20 44 36
 
     * - Kind
-      - Demo
+      - Example
       - Tasks
     * - Volume
-      - ``scripts/demos/deformables.py``
+      - ``deformables``
       - ``Isaac-Lift-Soft-Franka``, ``Isaac-Lift-Soft-Franka-Camera``
     * - Surface
-      - ``scripts/demos/deformables.py``
+      - ``deformables``
       - ``Isaac-Lift-Cloth-Franka``, ``Isaac-Lift-Cloth-Franka-Camera``
     * - Cable
-      - ``scripts/demos/cables.py``
+      - ``cables``
       - ``Isaac-Lift-Cable-Franka``, ``Isaac-Lift-Cable-Franka-Camera``
 
 .. code-block:: bash
 
     # Volume and surface deformables falling onto a ground plane.
-    uv run --extra isaacsim --extra tetrahedralization python scripts/demos/deformables.py
+    uv run --extra tetrahedralization isaaclab example deformables
 
     # A pile of cables that collide and settle. Newton VBD only.
-    uv run --extra isaacsim python scripts/demos/cables.py
+    uv run isaaclab example cables
 
     # A larger cable pile, without a visualizer, stopping after a fixed number of steps.
-    uv run python scripts/demos/cables.py --visualizer none --num_cables 40 --num_segments 15 --max_steps 500
+    uv run isaaclab example cables --visualizer none --num_cables 40 --num_segments 15 --max_steps 500
 
 ``scripts/environments/state_machine/lift_franka_soft.py`` drives ``Isaac-Lift-Soft-Franka`` with a
 scripted state machine, which is a useful starting point for a deformable manipulation task.

docs/source/concepts/sensors/camera.rst

@@ -320,11 +320,11 @@ configuration and discovered USD attributes are fixed for the camera lifetime.
    separately authored RTX exposure or tonemapping settings. When ``isp_cfg`` is ``None``, the
    renderer leaves authored camera exposure unchanged.
 
-Run ``scripts/demos/sensors/ppisp_camera.py`` for a complete PPISP workflow:
+Run the ``ppisp-camera`` example for a complete PPISP workflow:
 
 .. code-block:: bash
 
-   uv run --extra isaacsim python scripts/demos/sensors/ppisp_camera.py \
+   uv run --extra isaacsim isaaclab example ppisp-camera \
       --renderer newton_renderer --max_steps 60
 
 Performance and validation
@@ -340,11 +340,11 @@ cost of the de-tiled outputs or downstream vision models. The camera follows the
 ``update_period`` contract; choose a period that matches the observation cadence instead of rendering
 at every physics step by default.
 
-A runnable camera example is available in ``scripts/demos/sensors/cameras.py``:
+A runnable camera example is available as ``camera``:
 
 .. code-block:: bash
 
-   uv run --extra isaacsim python scripts/demos/sensors/cameras.py
+   uv run --extra isaacsim isaaclab example camera
 
 For saving output to disk, see :doc:`/source/how-to/save_camera_output`. For renderer selection
 and customization, see :doc:`/source/how-to/configure_rendering`.

docs/source/concepts/sensors/contact_sensor.rst

@@ -137,9 +137,8 @@ sensor contacts but does not change the reported data.
    :figwidth: 100%
    :alt: Contact sensor debug visualization
 
-A complete runnable example is available in
-``scripts/demos/sensors/contact_sensor.py``:
+A complete runnable example is available as ``contact-sensor``:
 
 .. code-block:: bash
 
-   uv run --extra isaacsim python scripts/demos/sensors/contact_sensor.py
+   uv run isaaclab example contact-sensor

docs/source/concepts/sensors/frame_transformer.rst

@@ -66,9 +66,8 @@ the offset source frame in world coordinates. Positions are in meters; quaternio
    :figwidth: 100%
    :alt: Frame transformer debug visualization
 
-A complete runnable example is available in
-``scripts/demos/sensors/frame_transformer_sensor.py``:
+A complete runnable example is available as ``frame-transformer``:
 
 .. code-block:: bash
 
-   uv run --extra isaacsim python scripts/demos/sensors/frame_transformer_sensor.py
+   uv run --extra isaacsim isaaclab example frame-transformer

docs/source/concepts/sensors/imu.rst

@@ -60,8 +60,8 @@ with the control loop that consumes the measurement.
    :figwidth: 100%
    :alt: IMU acceleration debug visualization
 
-A complete runnable example is available in ``scripts/demos/sensors/imu_sensor.py``:
+A complete runnable example is available as ``imu``:
 
 .. code-block:: bash
 
-   uv run --extra isaacsim python scripts/demos/sensors/imu_sensor.py
+   uv run --extra isaacsim isaaclab example imu

docs/source/concepts/sensors/pva.rst

@@ -72,8 +72,8 @@ where Torch operations are required:
 Like the IMU, acceleration uses state from consecutive simulation updates. Reset the scene and sensor
 state together at episode boundaries.
 
-A complete runnable example is available in ``scripts/demos/sensors/pva_sensor.py``:
+A complete runnable example is available as ``pva``:
 
 .. code-block:: bash
 
-   uv run --extra isaacsim python scripts/demos/sensors/pva_sensor.py
+   uv run --extra isaacsim isaaclab example pva

docs/source/concepts/sensors/ray_caster.rst

@@ -24,9 +24,9 @@ explicit and to access Newton-specific options.
 
 Using a ray caster sensor requires a **pattern** and a parent xform to be attached to.  The pattern defines how the rays are cast, while the prim properties defines the orientation and position of the sensor (additional offsets can be specified for more exact placement).  Isaac Lab supports a number of ray casting pattern configurations, including a generic LIDAR and grid pattern.
 
-.. literalinclude:: ../../../../scripts/demos/sensors/raycaster_sensor.py
+.. literalinclude:: ../../../../examples/sensors/raycaster_sensor.py
     :language: python
-    :lines: 40-71
+    :pyobject: RaycasterSensorSceneCfg
 
 Notice that the units on the pattern config is in degrees! Also, we enable visualization here to explicitly show the pattern in the rendering, but this is not required and should be disabled for performance tuning.
 
@@ -80,6 +80,6 @@ You can use this script to experiment with pattern configurations and build an i
 .. dropdown:: Code for raycaster_sensor.py
    :icon: code
 
-   .. literalinclude:: ../../../../scripts/demos/sensors/raycaster_sensor.py
+   .. literalinclude:: ../../../../examples/sensors/raycaster_sensor.py
       :language: python
       :linenos:

docs/source/concepts/using_mpm.rst

@@ -5,8 +5,8 @@ Using Implicit MPM
 
 Newton's implicit Material Point Method (MPM) solver models particle materials
 such as granular media. MPM support and rigid-MPM coupling are experimental.
-Start with the compact ``scripts/demos/mpm/newton_mpm_granular.py`` example;
-``snowball_smash.py`` adds coupling and ``teapot_fill.py`` adds cavity sampling.
+Start with the compact ``mpm-granular`` example; the ``snowball-smash`` and ``teapot-fill`` demos provide polished
+coupling and cavity-sampling showcases.
 
 
 .. _franka-pour-reset-artifact:
@@ -126,13 +126,13 @@ material behavior. Run the teapot example to compare the available modes:
 .. code-block:: bash
 
    # Reconstructed surface (default)
-   uv run python scripts/demos/mpm/teapot_fill.py --device cuda:0 \
+   uv run isaaclab demo teapot-fill --device cuda:0 \
      --visualizer newton_gl --fluid_render_mode surface
    # Surface and source particles together
-   uv run python scripts/demos/mpm/teapot_fill.py --device cuda:0 \
+   uv run isaaclab demo teapot-fill --device cuda:0 \
      --visualizer newton_gl --fluid_render_mode both
    # Path-traced translucent surface
-   uv run --extra ovrtx python scripts/demos/mpm/teapot_fill.py --device cuda:0 \
+   uv run --extra ovrtx isaaclab demo teapot-fill --device cuda:0 \
      --visualizer newton_rtx --fluid_render_mode surface
 
 Surface rendering is available in the Newton GL and Newton RTX visualizers.
@@ -163,7 +163,7 @@ dynamic topology in one reusable helper:
 .. dropdown:: ``FluidSurfaceRenderer`` implementation
    :icon: code
 
-   .. literalinclude:: ../../../scripts/demos/mpm/teapot_fill.py
+   .. literalinclude:: ../../../examples/demos/teapot_fill.py
       :language: python
       :pyobject: FluidSurfaceRenderer
 

docs/source/concepts/visualization.rst

@@ -208,7 +208,7 @@ Visualizer Overview
              <video autoplay loop muted playsinline controls preload="auto" style="width:100%;">
                <source src="https://download.isaacsim.omniverse.nvidia.com/isaaclab/images/showcase_newton_gl_dominoes.mp4" type="video/mp4">
              </video>
-             <p class="viz-cap">newton_viewer_dominoes demo<br>Right-click dragging the first domino
+             <p class="viz-cap">newton-dominoes example<br>Right-click dragging the first domino
              triggers the cascade across an NVIDIA-logo domino layout</p>
            </div>
          </div>

docs/source/experimental-features/visuo_tactile_sensor.rst

@@ -110,21 +110,21 @@ Configuration Requirements
 Usage Example
 ~~~~~~~~~~~~~
 
-To use the tactile sensor in a simulation environment, run the demo:
+To use the tactile sensor in a simulation environment, run the example:
 
 .. tab-set::
 
    .. tab-item:: uv (Recommended)
 
       .. code-block:: bash
 
-          uv run --extra isaacsim python scripts/demos/sensors/tacsl_sensor.py --use_tactile_rgb --use_tactile_ff --tactile_compliance_stiffness 100.0 --tactile_compliant_damping 1.0 --contact_object_type nut --num_envs 16 --save_viz --viz kit
+          uv run --extra isaacsim isaaclab example tactile-sensor --use_tactile_rgb --use_tactile_ff --tactile_compliance_stiffness 100.0 --tactile_compliant_damping 1.0 --contact_object_type nut --num_envs 16 --save_viz --viz kit
 
    .. tab-item:: isaaclab.sh / isaaclab.bat
 
       .. code-block:: bash
 
-          ./isaaclab.sh -p scripts/demos/sensors/tacsl_sensor.py --use_tactile_rgb --use_tactile_ff --tactile_compliance_stiffness 100.0 --tactile_compliant_damping 1.0 --contact_object_type nut --num_envs 16 --save_viz --viz kit
+          ./isaaclab.sh example tactile-sensor --use_tactile_rgb --use_tactile_ff --tactile_compliance_stiffness 100.0 --tactile_compliant_damping 1.0 --contact_object_type nut --num_envs 16 --save_viz --viz kit
 
 Available command-line options include:
 
@@ -146,7 +146,7 @@ Available command-line options include:
 .. note::
 
    Since Isaac Lab 3.0, visualizers are selected independently from the simulation backend. Use the ``--viz``
-   argument to choose the visualizer backend, such as ``kit`` or ``newton``. The TacSL demo currently supports
+   argument to choose the visualizer backend, such as ``kit`` or ``newton``. The TacSL example currently supports
    only the PhysX simulation backend; running the tactile sensor simulation with the Newton backend is not
    supported.
 
@@ -159,16 +159,16 @@ For a complete list of available options:
 
       .. code-block:: bash
 
-          uv run --extra isaacsim python scripts/demos/sensors/tacsl_sensor.py -h
+          uv run --extra isaacsim isaaclab example tactile-sensor -h
 
    .. tab-item:: isaaclab.sh / isaaclab.bat
 
       .. code-block:: bash
 
-          ./isaaclab.sh -p scripts/demos/sensors/tacsl_sensor.py -h
+          ./isaaclab.sh example tactile-sensor -h
 
 .. note::
-   The demo examples are based on the Gelsight R1.5, which is a prototype sensor that is now discontinued. The same procedure can be adapted for other visuotactile sensors.
+   The examples are based on the Gelsight R1.5, which is a prototype sensor that is now discontinued. The same procedure can be adapted for other visuotactile sensors.
 
 .. figure:: ../_static/overview/sensors/tacsl_demo.jpg
     :align: center