Overview
========

**Orbit** is a unified and modular framework for robot learning that aims to simplify common workflows
in robotics research (such as RL, learning from demonstrations, and motion planning). It is built upon
`NVIDIA Isaac Sim`_ to leverage the latest simulation capabilities for photo-realistic scenes, and fast
and efficient simulation. The core objectives of the framework are:

- **Modularity**: Easily customize and add new environments, robots, and sensors.
- **Agility**: Adapt to the changing needs of the community.
- **Openness**: Remain open-sourced to allow the community to contribute and extend the framework.
- **Battery-included**: Include a number of environments, sensors, and tasks that are ready to use.

For more information about the framework, please refer to the `paper <https://arxiv.org/abs/2301.04195>`_
:cite:`mittal2023orbit`. For clarifications on NVIDIA Isaac ecosystem, please check out the
:doc:`/source/setup/faq` section.

.. figure:: source/_static/tasks.jpg
   :width: 100%
   :alt: Example tasks created using orbit


Citing
======

If you use Orbit in your research, please use the following BibTeX entry:

.. code:: bibtex

   @article{mittal2023orbit,
      author={Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad and Mandlekar, Ajay and Babich, Buck and State, Gavriel and Hutter, Marco and Garg, Animesh},
      journal={IEEE Robotics and Automation Letters},
      title={Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments},
      year={2023},
      volume={8},
      number={6},
      pages={3740-3747},
      doi={10.1109/LRA.2023.3270034}
   }


License
=======

NVIDIA Isaac Sim is provided under the NVIDIA End User License Agreement. However, the
Orbit framework is open-sourced under the BSD-3-Clause license.
Please refer to :ref:`license` for more details.


Table of Contents
=================

.. toctree::
   :maxdepth: 2
   :caption: Getting Started

   source/setup/installation
   source/setup/developer
   source/setup/sample
   source/setup/faq

.. toctree::
   :maxdepth: 2
   :caption: Features

   source/features/environments
   source/features/actuators
   .. source/features/motion_generators

.. toctree::
   :maxdepth: 1
   :caption: Resources
   :titlesonly:

   source/tutorials/index
   source/how-to/index
   source/deployment/index

.. toctree::
   :maxdepth: 1
   :caption: Source API

   source/api/index

.. toctree::
   :maxdepth: 1
   :caption: References

   source/refs/migration
   source/refs/contributing
   source/refs/troubleshooting
   source/refs/issues
   source/refs/changelog
   source/refs/license
   source/refs/bibliography

.. toctree::
    :hidden:
    :caption: Project Links

    GitHub <https://github.com/NVIDIA-Omniverse/orbit>

Indices and tables
==================

* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`

.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html
