![Example Tasks created with ORBIT](docs/source/_static/tasks.jpg)

---

# Omniverse Isaac Orbit

[![IsaacSim](https://img.shields.io/badge/Isaac%20Sim-2022.2.0-orange.svg)](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html)
[![Python](https://img.shields.io/badge/python-3.7-blue.svg)](https://docs.python.org/3/whatsnew/3.7.html)
[![Linux platform](https://img.shields.io/badge/platform-linux--64-lightgrey.svg)](https://releases.ubuntu.com/20.04/)
[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit&logoColor=white)](https://pre-commit.com/)
[![Docs status](https://img.shields.io/badge/docs-passing-brightgreen.svg)](https://isaac-orbit.github.io/orbit)
[![License](https://img.shields.io/badge/license-BSD--3-yellow.svg)](https://opensource.org/licenses/BSD-3-Clause)

<!-- TODO: Replace docs status with workflow badge? Link: https://github.com/isaac-orbit/orbit/actions/workflows/docs.yaml/badge.svg -->

Isaac Orbit (or *orbit* in short) is a unified and modular framework for robot learning powered by [NVIDIA Isaac Sim](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html). It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes, and fast and accurate simulation.

Please refer our [documentation page](https://isaac-orbit.github.io/orbit) to learn more about the installation steps, features and tutorials.

## Acknowledgement

NVIDIA Isaac Sim is available freely under [individual license](https://www.nvidia.com/en-us/omniverse/download/). For more information about its license terms, please check [here](https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement).

ORBIT framework is released under [BSD-3 License](LICENSE). The license files of its dependencies and assets are present in the [`docs/licenses`](docs/licenses) directory.

## Citation

If you use **`orbit`** in your work, please cite:

```
@misc{mittal2023orbit,
	author = {Mayank Mittal and Calvin Yu and Qinxi Yu and Jingzhou Liu and Nikita Rudin and David 	Hoeller and Jia Lin Yuan and Pooria Poorsarvi Tehrani and Ritvik Singh and Yunrong Guo and Hammad Mazhar and Ajay Mandlekar and Buck Babich and Gavriel State and Marco Hutter and Animesh Garg},
	title = {ORBIT: A Unified Simulation Framework for Interactive Robot Learning Environments},
	year = {2023},
	eprint = {arXiv:2301.04195},
}
```
