Antioch Examples

Example projects for Antioch, the simulation platform for physical AI. Each directory is a self-contained Antioch project — an antioch.yaml plus ordinary Python — that runs on a remote GPU machine, so nothing here needs a simulator installed locally.

Example	What it shows
isaac-sim-6.0.1/	Isaac Sim 6.0.1, one folder per example: sandbox/ (a naked GUI session), cubes/ (a livestreamed script, a falling-cube smoke check, and a cube-bounce parameter sweep), unitree/ (a Go2 walking on a pretrained policy), and so101-teleop/ (a physical SO-101 leader arm mirrored live in sim). Suites: smoke, sweep, cubes, unitree.
isaac-lab-3/	Isaac Lab 3.0, one folder per example: sandbox/ (a naked GUI session), cartpole/ (a livestreamed script, a smoke check, and a parameter sweep), and unitree/ (a Go2 joint-space choreography). Suites: smoke, sweep, cartpole, unitree.

Getting started

Each example manages its own environment with uv:

cd isaac-sim-6.0.1        # or isaac-lab-3
uv sync
uv run antioch auth login   # first time only
uv run antioch run cubes/demo.py

Interactive runs stream the simulator GUI by default; antioch machine status prints the stream URL. See each example's README for what it contains and the full set of ways to run it.