> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Isaac Lab Simulation Example

> [!WARNING]
>
> Isaac Lab Sim is archived. The documentation stays readable but is no longer updated. For model assets and loading steps, see the hardware and software integration guides for [Wuji Hand 2.2](https://docs.wuji.tech/docs/en/wuji-hand/latest/hardware-integration.md#get-and-load), [Wuji Hand 2.1](https://docs.wuji.tech/docs/en/wuji-hand/beta1/hardware-integration#get-and-load), and [Wuji Glove](https://docs.wuji.tech/docs/en/wuji-glove/latest/model-integration.md#get-and-load).

[isaaclab-sim](https://github.com/wuji-technology/isaaclab-sim) provides simulation examples for using Wuji Hand in NVIDIA Isaac Lab, supporting GPU-accelerated large-scale parallel simulation, suitable for reinforcement learning training scenarios.

## Run Commands

```bash theme={null}
git clone --recurse-submodules https://github.com/wuji-technology/isaaclab-sim.git
cd isaaclab-sim
# Configure the environment according to Isaac Lab official documentation, then execute
python run_sim.py
```

## Expected Result

The script loads the right-hand model (default) and loops through the pre-recorded waving motion trajectory in `data/wave.npy`. To switch to the left hand, run `python run_sim.py --side left`.


This documentation is built and hosted on [Mintlify](https://mintlify.com), a developer documentation platform.