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:

python dexsuite/examples/keyboard_demo.py

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

Quit with Ctrl + C.

Key Bindings

QWERTY (Default)

Keys	Axis	Action
↑ / ↓	X	Move end-effector forward / backward
← / →	Y	Move end-effector left / right
u / j	Z	Move end-effector up / down
b / m	Roll	Rotate around X-axis
n / h	Pitch	Rotate around Y-axis
g / v	Yaw	Rotate around Z-axis
o / p	Gripper	Open / Close
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 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 Environment Builders to learn how to configure arbitrary robot and task combinations without writing boilerplate code.