:github_url: https://github.com/kevinzakka/mink/tree/main/docs/tutorial/example_gallery.rst

.. _example-gallery:

===============
Example Gallery
===============

Basic pose tracking with a single manipulator.

Franka Panda
------------

End-effector pose tracking with posture regularization.

.. raw:: html

   <video width="400" controls>
     <source src="../_static/arm_panda.mp4" type="video/mp4">
   </video>

`View source code <https://github.com/kevinzakka/mink/blob/main/examples/arm_panda.py>`__

UR5e with Collision Avoidance
-----------------------------

Pose tracking with collision avoidance between the wrist and environment
(floor, walls). Demonstrates :class:`~mink.CollisionAvoidanceLimit`.

.. raw:: html

   <video width="400" controls>
     <source src="../_static/arm_ur5e.mp4" type="video/mp4">
   </video>

`View source code <https://github.com/kevinzakka/mink/blob/main/examples/arm_ur5e.py>`__

Bimanual manipulation with ALOHA
--------------------------------

Bimanual setup with the ALOHA robot.

.. raw:: html

   <video width="400" controls>
     <source src="../_static/arm_aloha.mp4" type="video/mp4">
   </video>

`View source code <https://github.com/kevinzakka/mink/blob/main/examples/arm_aloha.py>`__

Dexterous hand + arm
--------------------

Manipulation with an Allegro hand attached to a IIWA arm.

.. raw:: html

   <video width="400" controls>
     <source src="../_static/arm_hand_iiwa_allegro.mp4" type="video/mp4">
   </video>

`View source code <https://github.com/kevinzakka/mink/blob/main/examples/arm_hand_iiwa_allegro.py>`__

Mobile Manipulation with TidyBot
--------------------------------

Mobile manipulation with Stanford's TidyBot.

.. raw:: html

   <video width="400" controls>
     <source src="../_static/mobile_tidybot.mp4" type="video/mp4">
   </video>

`View source code <https://github.com/kevinzakka/mink/blob/main/examples/mobile_tidybot.py>`__

Humanoid
--------

Whole body control with a Unitree G1.

.. raw:: html

   <video width="400" controls>
     <source src="../_static/humanoid_g1.mp4" type="video/mp4">
   </video>

`View source code <https://github.com/kevinzakka/mink/blob/main/examples/humanoid_g1.py>`__