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Get started

  • Installation
  • Quickstart

Resources

  • Tutorials
    • Custom Tasks
      • Introduction to Task Building
      • Loading Actors and Articulations
      • Advanced Features
    • Custom Robots
    • Custom Reusable Scenes
    • Domain Randomization
    • Sim2Real Tools
      • Sim2RealEnv
      • Sim2Real Env Design
  • Concepts
    • Simulation and Robotics 101
    • GPU Simulation
    • Controllers / Action Spaces
    • Observation
    • Sensors / Cameras
    • Reproducibility and Random Number Generation
  • Datasets
    • Scene Datasets
    • Demonstrations
    • Replaying/Converting Trajectories
  • Data Collection
    • Motion Planning
    • Teleoperation
  • Reinforcement Learning
    • Setup
    • Baselines
  • Learning from Demonstrations
    • Setup
    • Baselines
  • Vision Language Action Models
  • Wrappers
    • Recording Episodes
    • Flattening Data
    • Action Repeat
    • Cached Reset

Additional Resources

  • Performance Benchmarking
  • Citation
  • User Guide
  • Tutorials
  • Custom Tasks

Custom Tasks#

The tutorials below are a step-by-step guide for how to build your own CPU/GPU simulated task to use in your own workflows.

  • Introduction to Task Building
  • Loading Actors and Articulations
  • Advanced Features

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Tutorials

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Introduction to Task Building
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