All examples use Kinova GEN3 + Robotiq 2F-85 MJCF from MuJoCo Menagerie. Requires -DFETCH_MENAGERIE=ON at configure time.

Build from the repo root:

cmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo -DFETCH_MENAGERIE=ON

cmake --build build --parallel $(nproc)

All examples support --headless to skip the GLFW window and run a fixed number of physics steps instead, printing a brief result to stdout.

Example	Description
`ex_init`	Single arm, gravity compensation, home pose
`ex_gravity_comp`	Gravity compensation with KDL `JntToGravity`
`ex_pos_ctrl`	Position trajectory tracking (`CtrlMode::POSITION`)
`ex_vel_ctrl`	Velocity control to a target pose (`CtrlMode::VELOCITY`)
`ex_impedance`	Joint-space impedance control (PD + gravity feed-forward)
`ex_gripper`	Arm + Robotiq 2F-85 gripper, gravity comp, open/close cycle
`ex_pick`	Full pick-and-place: IK, pre-grasp, grasp, lift state machine
`ex_table_scene`	Arm + gripper on a table with pickable objects
`ex_dual_arm`	Two GEN3 arms, independent KDL chains, gravity comp
`ex_record`	Headless EGL video recording to MP4 via `VideoRecorder`