# Simulation

##### Web Mujoco simulation

Play with XLeRobot instantly on web, using mujoco engine and 3DGS. See detailed instruction [HERE](https://github.com/Vector-Wangel/MuJoCo-GS-Web)

<iframe 
    src="https://vector-wangel.github.io/MuJoCo-GS-Web/" 
    width="100%" 
    height="600px"
    style="border: none; border-radius: 8px;"
    allowfullscreen>
</iframe>

##### [👋 Get Started](getting_started/index)

- [A short technical blog](https://vectorwang.notion.site/Analytical-IK-for-SO101-20abb280f59380d288bcdd398ffbfab1) for analytical IK introduction.

- A detailed [**Step-by-step Installation Guide**](getting_started/index) that can get you started to replicate this demo in 10 min.

- URDF files, maniskill robot agent scripts, joint/EE control scripts.

##### [👀 VR Control](getting_started/vr_sim)

<video width="100%" style="max-width: 100%;" controls>
  <source src="https://vector-wangel.github.io/XLeRobot-assets/videos/Sim_demos/XLeRobot_0_2_3.mp4" type="video/mp4">
  Your browser does not support the video tag.
</video>

##### [🔩 More Scenes](getting_started/simdemos)

<video width="100%" style="max-width: 100%;" controls>
  <source src="https://vector-wangel.github.io/XLeRobot-assets/videos/Sim_demos/XLeRobot_0_1_5.mp4" type="video/mp4">
  Your browser does not support the video tag.
</video>


```{toctree}
getting_started/index
getting_started/vr_sim
getting_started/simdemos
```

<!-- ```{toctree}
:maxdepth: 1

control/index
table_top_gripper/index
quadruped/index
humanoid/index
mobile_manipulation/index
dextrous/index
digital_twins/index
drawing/index
external/index
``` -->