Tutorials

Each tutorial walks through one of the repository's example scripts — the same files that ship in examples/ and run in this project's CI. The code shown is included from those files, and the printed numbers are real output.

Most of them use NVIDIA's official Isaac Sim Franka asset; the first run downloads it (~10 MB) into the botrail cache, once. Two tutorials run on a primitive-geometry arm straight from the checkout, with no downloads at all.

Tutorial	What it teaches	Downloads
Pose and plan	A USD robot in a USD cell, teaching grasps by IK, the studio	Franka
Pick from a moving belt	Conveyor tracking, guarded ramps, grasping, a full PLC sequence	Franka
Verify the cell in CI	Turning a bake into a pytest regression suite	none
Two arms, one belt	Multiple robots, zone interlocks, tick-checked arm-vs-arm collision	Franka
Parameter sweeps	The cell as a function of its layout: bt.sweep tables it, bt.optimize searches it	none
Export and replay USD	Baking animations for usdview/Omniverse/Blender, and playing them back	Franka
Hand over the cell	The whole document set — layout sheet, BOM, I/O list, program, USD, report — from one script	none

If you haven't yet, do the Getting started pages first — they introduce the vocabulary (scenes, motions, sequences, timelines) these tutorials build on.