# Examples

Runnable examples are grouped by workflow rather than kept as one flat script
bucket.

## Front-Door Demos

- `demos/mujoco/grasp.py` - deterministic MuJoCo grasp proof wedge
- `demos/g1/wbc_reach.py` - Unitree G1 whole-body-control reach demo
- `demos/g1/lerobot_locomotion.py` - LeRobot G1 locomotion validation
- `demos/g1/lerobot_native.py` - native LeRobot G1 controller demo
- `demos/g1/cross_framework_report.py` - committed G1 Meshcat-vs-MuJoCo report
- `demos/sonic/locomotion.py` - SONIC planner locomotion demo
- `demos/sonic/tracking.py` - SONIC encoder/decoder tracking demo

## Integrations

- `integrations/lerobot/eval_harness.py` - LeRobot policy evaluation harness
- `integrations/maniskill/visual_debug.py` - ManiSkill wrapper visual debug path
- `integrations/isaac_lab/integration.py` - Isaac Lab wrapper integration
- `integrations/rerun/robotics_viz.py` - Rerun visualization integration

## Quickstarts

- `quickstart/gymnasium_wrapper.py` - minimal Gymnasium wrapper quickstart
