Examples

The examples folder holds runnable worlds, one script per world. Each script opens a window. To record a video from a script that calls _common.launch, set RISE_MODE=record, and the script writes RISE_OUT when RISE_DURATION seconds of the world have passed:

RISE_MODE=record RISE_OUT=boxes.mp4 RISE_DURATION=4 python examples/basic/boxes.py

Basic

Script	What it shows
examples/basic/boxes.py	A shower of rigid and soft blocks settling into a pile.
examples/basic/bridge.py	A heavy rigid block dropping onto a long soft span and snapping it.
examples/basic/stack.py	A pyramid of voxelized cubes.
examples/basic/sheet.py	A 50 by 50 cloth draping over a bed of spheres.
examples/basic/rod.py	A soft column wound up by a cylinder motor.
examples/basic/freeze.py	Twenty boxes dropping while a freeze wave sweeps around a ring.
examples/basic/pause.py	A ring of boxes dropping, with a button that pauses the whole world.
examples/basic/transform.py	Four cubes of different physics kinds, kicked up by a key.
examples/basic/intersection.py	A ball you steer into a fixed cube's region.
examples/basic/camera.py	Every camera channel at once, orbiting a cube.
examples/basic/camera_stereo.py	A stereo camera showing both eyes.
examples/basic/ray_sensor.py	A ray sensor used as a low-resolution camera, with every channel.
examples/basic/mcp.py	An MCP server inside a running world, for an AI client to drive.
examples/basic/vr.py	A floor and one cube presented to an OpenXR headset.
examples/basic/vr2.py	One person steers a ball at the desk while another watches in VR.

Creatures

Script	What it shows
examples/creatures/ant.py	A spherical torso on four two-segment legs, with eight hinges.
examples/creatures/dog.py	A voxel dog with a leg-phase walking gait.
examples/creatures/quadruped.py	A hinged quadruped with a trotting gait.
examples/creatures/flexor.py	A muscle-actuated quadruped built from one voxel grid.

Imported robots

Script	What it shows
examples/external/urdf_franka/main.py	A Panda arm imported from URDF with its inertials and texture.
examples/external/mjcf_ant/main.py	A MuJoCo ant model with its eight leg hinges driven.

Rendering

Script	What it shows
examples/render/floor.py	Every floor layout crossed with every surface style.
examples/render/materials.py	A row of solid cubes and a row of nested cubes across material modes.
examples/render/sky.py	Three world backgrounds over a mirror-smooth floor.
examples/physics_bench/optics/focal_position/main.py	One reading of where a voxel convex lens brings light to a focus.

Games

Script	What it shows
examples/game/maze.py	A ball you roll through a procedural maze to a goal.
examples/game/pinball.py	A levitated, steeply tilted voxel pinball table.

Larger worlds

Script	What it shows
examples/lab/main.py	A procedurally generated underground research station with many small lamps.
examples/world/main.py	A voxel river valley with forest, stones and sky, which you can stand inside.
examples/remote/server.py	A falling-boxes world served over the network. Run examples/remote/client.py to watch it.
examples/create/	Preview scripts for each generated tree, rock and cloud.