👀 Overview

The initial release of the ORBIT framework. It includes the core APIs built around Isaac Sim for robot learning. In addition, provides an initial set of environments for learning.

The main set of features includes:

• Python configuration handling system using the decorator @configclass
• Different explicit actuator models for processing commands
• Actuator groups to handle complex articulations
• Support for different robots:
  • legged robots: ANYmal-C, ANYmal-B, Unitree A1
  • fixed-arm manipulators: Franka Emika arm, UR5
  • wheel-based mobile manipulators: Clearpath Ridgeback with Franka Emika arm or UR5
  • legged mobile manipulators
• Batched implementation of motion generators
  • differential inverse kinematics
• Initial set of environments for learning
  • classic: cart-pole, humanoid, ant
  • locomotion: legged locomotion on flat terrain
  • manipulation: table-top object lifting, end-effector tracking
• Demonstrations of different learning workflows
  • Imitation learning: robomimic
  • Reinforcement learning: stable-baselines3, rsl-rl, rl-games