> ## 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 The documentation stays readable but is no longer updated. Use [Wuji Description](https://docs.wuji.tech/en/docs/wuji-description/related-repos/) instead.</Warning>

[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`.


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