Run a Simple Demo
=================

The keyboard demo starts a simple ``lift`` task with a Franka robot arm and a Robotiq gripper. It
maps keyboard keys to the control commands. No additional hardware is required.

Run
---

From the repository root:

.. code-block:: bash

   python dexsuite/examples/keyboard_demo.py

   # Alternatively, as a module
   python -m dexsuite.examples.keyboard_demo

Quit with :kbd:`Ctrl` + :kbd:`C`.

Key Bindings
------------

QWERTY (Default)
~~~~~~~~~~~~~~~~

.. list-table::
   :widths: 25 25 50
   :header-rows: 1

   * - Keys
     - Axis
     - Action
   * - :kbd:`↑` / :kbd:`↓`
     - X
     - Move end-effector forward / backward
   * - :kbd:`←` / :kbd:`→`
     - Y
     - Move end-effector left / right
   * - :kbd:`u` / :kbd:`j`
     - Z
     - Move end-effector up / down
   * - :kbd:`b` / :kbd:`m`
     - Roll
     - Rotate around X-axis
   * - :kbd:`n` / :kbd:`h`
     - Pitch
     - Rotate around Y-axis
   * - :kbd:`g` / :kbd:`v`
     - Yaw
     - Rotate around Z-axis
   * - :kbd:`o` / :kbd:`p`
     - Gripper
     - Open / Close
   * - :kbd:`r`
     - (reset)
     - Reset the episode

.. AZERTY
.. ~~~~~~

.. Pass ``--layout azerty`` to use an AZERTY-friendly mapping:

.. .. code-block:: bash

..    python dexsuite/examples/keyboard_demo.py --layout azerty

.. .. list-table::
..    :widths: 25 25 50
..    :header-rows: 1

..    * - Keys
..      - Axis
..      - Action
..    * - :kbd:`z` / :kbd:`s`
..      - X
..      - Translate end-effector forward / backward
..    * - :kbd:`q` / :kbd:`d`
..      - Y
..      - Translate end-effector left / right
..    * - :kbd:`e` / :kbd:`a`
..      - Z
..      - Translate end-effector up / down
..    * - :kbd:`h` / :kbd:`k`
..      - Roll
..      - Rotate around X-axis
..    * - :kbd:`j` / :kbd:`u`
..      - Pitch
..      - Rotate around Y-axis
..    * - :kbd:`y` / :kbd:`i`
..      - Yaw
..      - Rotate around Z-axis
..    * - :kbd:`o` / :kbd:`p`
..      - Gripper
..      - Open / Close
..    * - :kbd:`r`
..      - (reset)
..      - Reset the episode




Troubleshooting
---------------

**No window appears, or the script exits immediately**

If you are using a dedicated GPU, confirm that your GPU driver and OpenGL configuration are correct. Refer to the
GPU verification steps in :doc:`installation`.

**Genesis initialization error**

This typically indicates a renderer or driver problem. Run ``nvidia-smi`` and
``glxinfo | grep "OpenGL renderer"`` to verify the GPU is active.

Next Steps
----------

Proceed to :doc:`environment_builders` to learn how to configure arbitrary robot
and task combinations without writing boilerplate code.