I have two questions about the Orbit.
May I know what is the purpose of orbit?
It seems like it is a modular framework for especially robot learning.
However, reinforcement learning can be realized by Issac Sim (Issac Gym). So, what is so special about Orbit?
In the Orbit tutorial, the example always uses the built-in API, e.g. robots and controllers.
Is the Orbit an appropriate platform if we want to use custom robots and controllers?
Thank you.
Hi @berternats
In the following extract from the Orbit maintainer’s public post published in the Omniverse Discord channel dedicated to Isaac Sim, you can find some helpful information to answer your questions:
Please, visit the original post on Discord to view the full text
Quote:
(…)
Isaac Orbit- Batteries included framework to reduce barrier to entry. It serves a dual purpose:
- (1) simplified interface for env design and support for many robotics workflows - RL, Motion planning, teleoperation, imitation learning/behavior cloning, and real robot operation. This unification is the USP of orbit as compared to other interfaces.
- (2) Front end framework for prebuilt environments as benchmark examples. (…)
We note that many folks in the community are users of IsaacSim, creating new environments rather than physics solvers. Hence, we hope to provide Orbit to warmstart it with prebuilt assets, and environment examples as benchmarks.
Importantly Orbit is designed such that it can accept community contributions with open licensing.
We hope that Orbit will be the environment zoo for IsaacSim with contributions from the community as well as internal development.Orbit also has modified env interfaces. However, Orbit is open source, and users can modify & suggest change to these interfaces, as needed. (…)
If we happen to use the custom robot in a custom environment, is it worth using Orbit?
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